Issues with joint velocities and effort values due to new dynamics values for robot arm

[justagist]

Hi @qgallouedec, I noticed that there are issues with joint velocities and joint effort values even when the robot is stationary. The velocities are non-zero (> 3 m/s for some joints), and the joint efforts are very high for certain joints even when the robot is not moving and there is no gravity. The torques are sometimes as high as 87Nm (the limit for that joint)! Did you notice this, or do you know why this could be so?

To test this, you can run the simulator and listen to the joint_states topic (rostopic echo /joint_states)

For now, I've reverted the dynamics values to the previous ones we had in this repo, which produces much better results.

[qgallouedec]

Hi @justagist.
I noticed the same outliers on my computer. The real robot doesn't output the same values at all (that's to be expected but I checked anyway). I have no idea why. I haven't investigated much. Let me know if you find the reason.

[justagist]

Reopening issue since the problem is not fully resolved; see justagist/panda_simulator#35.