I am preparing to simulate a peg in hole task based on FT sensors. I try to add a Articulation force sensor on the end-effect of the robot.However ,the value read from the sensor was strange.
Is there an example about how to install a Ft sensor on the robot end-effect flange and read the correctly value of contact force and torque? Thanks!
Here was one of the strange value, as the figure below, I add a force sensor on panda_hand, the cube mass was set to 0.5, however, the force z value before and after grip the cube was nearly same (about 7.9N,In theory, it should be 7.9+0.5*9.8=12.8N).