Fix joint force/torque feedback #4583
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Signed-off-by: Ian Chen <[email protected]>
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Hi @erwincoumans, we were hoping to resolve an issue in Gazebo with this PR. Would you be able to review it? |
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Thanks for bringing this to attention. I've suspended the PyBullet project but let's merge this change. |
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We ran into an issue downstream in gz-physics (Gazebo) with large force / torque sensor feedback when using bullet featherstone (btMultibody) implementation. The problem is similar to what's described in #2966 where user reported larger than expected joint reaction force/torque values when using
TORQUE_CONTROL. This bullet issue is closed as it seems like the original user switched to usingPOSITION_CONTROL. The patch in this PR is the code posted in #2966 (comment) by @Steven89Liu, which fixes the issue for us.We have a simple test setup that checks the FT sensor output:
In the above setup, the payload (orange) is connected to the end link with a force/torque sensor attached. There is a joint controller at the revolute joint connecting the base link and the end link.
[0 0 -9.8]).[0 -0.34 -13.85]).The force output value is correct when run with the physics engine (dartsim) in gz-physics. With this patch, the F/T sensor now also reports the expected value with bullet.