Attached is a gazebo model of an excavator .[C:\fakepath\BoomJoint.png](/upfiles/15242604195479812.png) I am trying to control the boom angle by setting displacement position or velocity for the 2 cylinder-rods sitting on either side of the boom. The 3 revolute joints must then adjust ( boom to upper-house ) and cylinder to upper house ( 2 joints) according to the rod displacement/velocity to move the boom . I am not able to control this with position or velocity control from the joint GUI. With force control the joint move but break at a certain part. What is the optimal way to model this and control this? Should I eliminate the cylinder rod mechanism and just control the revolute joints and use a look up table for the displacement? Or should I reduce the joint stiffness on the 3 revolute joints. Would programmatic control work better than the GUI?
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