I added "site" under two different joints. Why are the readings of their force sensors always the same? ... <body name="Z1_Link" pos="0 0.923 0.8972" quat="0.992861 0.119279 0 0"> <inertial pos="-3.2239e-05 0.51587 0.00013988" quat="0.70698 0.707231 0.00137586 -0.00124184" mass="25.639" diaginertia="1.7063 1.6844 0.28366" /> <joint name="Z1_Joint" pos="0 0 0" axis="1 0 0" /> <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="Z1_Link" /> <body name="Z2_Link_" pos="0 1.95 0"> <inertial pos="-1.1496e-05 1.4541 0.0003748" quat="0.70683 0.707383 1.4559e-05 1.0253e-05" mass="120.17" diaginertia="19.736 19.564 0.367918" /> <joint name="Z2_Joint_" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.68 -0.013" /> <geom type="mesh" rgba="1 0 0 1" mesh="Z2_Link" /> <site name = "tilt_site" type="box" size = "0.1 0.1 0.1" pos ="0 -0.3 0" rgba="0 1 0 1" /> </body> </body> <body name="L1_Link" pos="0 0.671 0.0582" quat="0.923803 0.382868 0 0"> <inertial pos="0.00046723 0.60013 -0.00060907" quat="0.707387 0.706824 0.00141742 -0.00153153" mass="258.21" diaginertia="18.007 17.822 1.81609" /> <joint name="L1_Joint" pos="0 0 0" axis="1 0 0" /> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="L1_Link" /> <body name="L2_Link_" pos="0 1.285 0"> <inertial pos="1.624e-11 0.90828 7.7897e-12" quat="0.707107 0.707107 0 0" mass="18.347" diaginertia="2.3166 2.2921 0.043362" /> <joint name="L2_Joint_" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0 0.82" /> <geom type="mesh" rgba="1 0 0 1" mesh="L2_Link" /> <site name = "lift_site" type="box" size = "0.1 0.1 0.1" pos = "0.3 -0.3 0" rgba="0 1 0 1" /> </body> </body> ... <sensor> <force name = "tilt_sensor_f" site = "tilt_site" /> <force name = "lift_sensor_f" site = "tilt_site" /> </sensor> ...
In the sensor list both force sensors are pointing at the same site: tilt_site. The second one should be lift_site.