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Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
http://bulletphysics.org
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force/torque sensor measuring unrealistically high values #4486

Open RaMathuZen opened 1 year ago

RaMathuZen commented 1 year ago

Hi , I was recently working on tele-operating a UR5 robotic arm (virtually in PyBullet) using a haptic device. In order to provide force feedback, I added force/torque sensors at joint(fixed) connecting wrist_2 and wrist_3 links of the arm. When the arm's end effector is in free space the force measured along x,y and z was between 0.8 to 11 Newtons and when I make it to hit on a cube, it measures forces between 400 kilonewtons to 2 million newtons !. I don't why it measures such a high value ? and Why does it happen ? or is millinewton being used as a unit ?

RaMathuZen commented 1 year ago

I request someone to answer my query. Thanks