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[bug] Computation of F_ext seems to be wrong in simulation. #197
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Hi @JohannesPankert, thanks for the report. The whole issue might be related to Gazebo Joints Move by Themselves. The potentially bugged implementation of Gazebo's It seems that the We keep investigating the issue, however, because of the intricacy of the bug, there is no estimate how long that will take. Sorry |
Hi @gollth, |
Fixed in #198 |
When starting the simulation with the command provided in the tutorial, a large external wrench is reported when the robot is not in contact.
Launch command:
Measured wrench:
The measured wrench changes when the robot is in contact with the environment.
The
cartesian_impedance_example_controller
works fine and has no visible tracking error. After calling theset_load
service and attaching a fake mass to the robot, the controller has a tracking error, andF_ext
changes as wellThe text was updated successfully, but these errors were encountered: