'right_j2' in gazebo behaves crazy


USC_robotics
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Hi community,

I just found the limb's joint 'right_j2' behaves crazy.

2 two things I tested.

1. it will give you wrong joint_angles, which already exceeds joint_limits

2. when I give it some torque command, using set_joint_torques, it will reach to some crazy positions. by echo the reached effort, I found it's totally different with what I commanded.

 

Any thoughts?

 

Thanks!

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