i use this gz topic to get contact data /gazebo/default/physics/contacts
and i try to get a center of presure but it turns out like something in this pic
[sss.jpg](/upfiles/14480890099473147.jpg)
i also uploaded a vid for showing how contacts are shaky.
https://drive.google.com/file/d/0B4bNDF3keBFieUVSd2hjS0Ztb1k/view?usp=sharing
↧