Hello, I’m using articulation force sensor mentioned here. In my view, this sensor can read external force acted on itself by joint and gravity.
I change end effort of franka like this: franka(remove gripper)->fix joint->small box as force sensor->fix joint->cylinder(to be contacted). However, when I change franka joint angle to make cylinder contact, the reading of force sensor is strange.
The initial scene like this, the reading of free state is explainable. (almost, z is good, but y is positive, also strange)
Then I change a joint target position while playing, but the reading of force sensor doesn’t change much. Even change joint’s target position to make stronger contact (stronger force should be appear because pd controller is used)
It seems that articulation force sensor can’t get valid contact value? I use this sensor because it could easy read 6-axis force like ATI sensor, but maybe it still has some problems…