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[gazebo plugin] SetForce() makes my model crash

Hi there,

I'm trying to get a plugin to control wheel speed, but as soon a I apply joint::setForce() on a joint, with any value, it justs make my model crash after few iterations.

When I disable the plugin, my model seems to be stable. I can apply forces on the wheels joints inside gazebo.

But even inside gazebo, if I apply a the minimal velocity to the joints (0.001), my model starts dancing.

I don't know if both problems are related, but i thought it might help you figure out what is happening.

I think my inertia matrix are fine, when I print center of mass/inertia, it looks good.

Could it be because the link mass is under 1, which make the value in the inertia matrix very small.