Greetings to all the community,

(New to gazebo) I have been working in this framework for a few weeks trying to simulate the dynamics of a CMG (control moment gyro) in a 0 gravity environment.

Basically, the body does not have any forces applied to it and floats (so far so good). However, when I apply a torque to the outer gimbal joint (revolute joint that connects the base with the gymbal), the system starts an oscillating motion.

This oscillating motion is characteristic of a pendulum motion in the presence of a gravitational field hence my question.

I would like to understand if this is suppose to happen, and if so, what can I do in order to overcome this issue and simulate a correct behavior.

PS: I am willing to provide the code if necessary. Did not do it because it would extend my post.