Locking joints in position control

[pjburton]

I want to just the position control loop to set the position of the joints in my robot. However, when I enable the control loop all the joints which are not receiving instructions are loose and they slide. How can I use the control loop while locking joints which are not receiving instructions?

[coppelia]

Hello,

if your joint is in force/torque mode, motor is enabled, control loop enabled and in position control, then your joint should hold the position (given that the max. torque is large enough).
My guess is that your joint is in inverse kinematics mode, and hybrid operation is enabled. In that case, the joint expects a target position from the IK calculations in each simulation step.

Cheers

[pjburton]

The joints are set in force/torque mode. I have put the max torque at 1.00e+11. The joints still slide when not receiving instructions. I am not even trying to run any code, just when I start the simulation the robot collapses under its own weight.

[pjburton]

I notice this does not happen when I use the Newton physics engine.

[coppelia]

Can you share your scene?

Cheers

[Mehmet]

Hello,

Actually, I have been same problem,
I'm not sure the reason, is it because of,
- Respondable properties
- Maximum torque value of actueated joint
- Dynamic properties of passive joints

Or anothers...

Thanks