Simulating an impedance controller in gazebo [closed]

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Hi,

I'm trying to simulate an impedance controller for a manipulator in Gazebo. Therefore I need Cartesian force measurement on the gripper, I'm doing this using the bumper plugin. I modeled an object which I should follow with constant force (=/0) with a specific trajectory. When in static contact with the object I get a good force measurement but as soon as I input the trajectory the grippoint is pulled out of the object and the force goes to zero. When following the same trajectory without the object the reference trajectory is executed nicely. I'm simulating this in the empty.world file, using the following settings:

<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
<quickStepIters>280</quickStepIters>
<quickStepW>1.3</quickStepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.001</contactSurfaceLayer>
<updateRate>100000000000000000000</updateRate>

</physics:ode>

The objects contact stiffness is equal to 100 N/m. Thanks in advance