vibrating model


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I'm currently running intera 5.2 on my PC and trying to run a sawyer simulation with a force/torque sensor on the end effector.

I'm using rqt_plot to get the readings from the f/t sensor. but i'm getting unnecessary noise from the signal even when the sensor is not in contact with anything. (see first screenshot)

When i put the f/t sensor to a surface in a static manner (end-effector put towards the surface and kept in contact), the signal is violently oscillating between a max force and 0. (see second screenshot)

Zooming into the model of both sawyer and the f/t sensor, i can see that they are both vibrating a little. i can tell because the shadow is oscillating a little bit.

I'm posting this question on this forum because i wanted to ask if there have been any changes in the simulation since 5.2.2 was released? i also wanted to ask if anyone was able to resolve this "error"?

Screenshot from 2018-03-26 11-45-03.png

Screenshot from 2018-03-26 11-45-45.png

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