admittance control issue

[khoramshahi]

@jrmout

Here is the the problem that I have:
run the simulator (with fake or falcon wrenches turned off) and the admittance control .
and use rosrun rqt_ez_publisher rqt_ez_publisher to publish control forces on /wrench_control which will be read by the admittance control as u_c_

also watch the velocity; e.g., with rqt_plot for ```/ur5_cartiesian_velocity_controller_sim/cart_vel_world/linear/x and y and z.

apply 0.5 newton in different directions. For me it results in different velocity. My issue is that it is really hard to make the robot move in some direction, and a simple F=-D(v - v_traget) would not work.

[khoramshahi]

I am closing this issue since it is not the case anymore in the updated version.