Hi there,
I am using youbot's mobile robot in gazebo to test a dynamic programming algorithm that I wrote up.
I am sending torques to each of the four wheels via the service call `/gazebo/apply_joint_effort`. For a force as little as 40 Newtons, I found that instead of the youbot driving forward/backward/sideways, it keeps somersaulting about the z-axis (see video at this [link](https://vimeo.com/254615007)).
I am taken aback by this. Has anyone worked with the youbot urdf before in siumulation using torque control that had a similar experience to mine?
If so, how did you fix this problem?
Looking forward to your answers.
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