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While writing a tutorial for the force torque sensor on gazebo 7 I noticed that the readings from the force_torque sensor vary wildly when a joint comes to rest at one of its limits.
Original report (archived issue) by Shane Loretz (Bitbucket: Shane Loretz, GitHub: sloretz).
While writing a tutorial for the force torque sensor on gazebo 7 I noticed that the readings from the force_torque sensor vary wildly when a joint comes to rest at one of its limits.
To reproduce
gazebo --verbose worlds/force_torque_demo.world
gz topic --view /gazebo/default/model_1/joint_01/force_torque/wrench
Expected behavior
Here are some of the actual readings
It's almost like the joint is bouncing. The last reading is almost like the sensor was reporting just the force due to gravity on link_1.
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