Effort interface problem at startup

[mrceki]

Hi,
I am running interactive marker demo with the effort interface and the robot falls until controllers loaded. I tried to put 5-10 sec sleep in while loop but it didn't work correctly. Is there any solution in Mujoco to fix that? (Like pause function in gazebo)

[sangteak601]

Hi,
Thanks for reporting the issue.
If I understand correctly, you modified the interactive_marker example to use the effort controller, right?
For now, I would suggest setting the initial values of effort to reasonable values that can hold the joints without falling.

<state_interface name="effort">
  <param name="initial_value">1.0</param>
</state_interface>

The pause function is not available at the moment, but I think it would be useful in many cases. It could be a good feature to add in the future.