Hello, Currently, I'm using "/force" topics and "/setlinkstate" topics to apply torque and apply position to link. But, link move without rotation.

Set value is

rate = 1000[Hz] simulation time = 6.0 [sec] "/force" topic : torque : From 0.0[sec] to 0.1[sec] is 0.01[Nm], From 0.101[sec] to 5.0 [sec] is 0.0[Nm] "/setlinkstate" topic : position: From 3.0[sec] to 5.0[sec] is 0.001[m]

How can I do?