Gazebo | Ignition | Community

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this was corrected by my editing the available tutorial file main.cc at around line 189:

joints[j]->SetForce(index, maxTorque);

to:

if ( j==0) joints[j]->SetForce(index, maxTorque);

else joints[j]->SetForce(index, 0);

I found that initially it was setting both joints to be torque actuated at the first joints max torque

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