gazebo - revolute joint unresistant against outer forces [closed]

edit

Hallo, does anybody know how I can make a revolute joint resistant against outer forces? I'm trying to create a manipulator for my urdf Robot-Model. The controllable joint is working fine, but it's deflecting immediately after an outer force worked on it.

Edit: Tried it also with an effort of "5000" without any improvement.

-----------URDF-------------------------

<joint name="XYZ_disk_joint" type="revolute">
  <origin xyz=" 0.0 y.y  z.z" rpy="0.0 0.0 0.0"/>
  <parent link="XYZ_corpus" />
  <child link="XYZ_disk" />
  <axis xyz="0 1 0" />      
  <limit  lower="-1.5708" upper="1.5708" effort="10.0" velocity="3.0" />    
  <dynamics damping="1.0" friction="1.0"/> 
</joint> 

<transmission name="XYZ_revolute_controll" type="pr2_mechanism_model/SimpleTransmission" >
  <actuator name="XYZ_disk_motor" />
  <joint name="XYZ_disk_joint" />
  <mechanicalReduction>1.0</mechanicalReduction>
</transmission>

-----------Controller------------------

XYZ_servo_controller:
  type: robot_mechanism_controllers/JointPositionController
  joint: XYZ_disk_joint
  pid:
    p: 1.0
    i: 0.0
    d: 0.4