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Hi everyone! Seems that the solution is found! The issue was that i set high friction and damping coefficients in joint. As mentioned in here, motor torque = joint torque + friction (static and dynamic damping). PID set motor torque by Joint::SetForce in Gazebo and joint effort limits its value (see here). As for ft_sensor, it shows joint torque value (motor torque - friction). So if we set friction to 0 (both static and dynamic) ft_sensor and PID values are identical. Or in case of joint effort limits effect ft_sensor value is cut.