message: FIX: Calculate contacts/collisions also for negative external forces
diff: @@ -64,10 +64,10 @@ double Joint::getLinkMass() const {
  }
  bool Joint::isInCollision() const {
  - return this->effort - this->command > this->collision_threshold;
  + return std::abs(this->effort - this->command) > this->collision_threshold;
  }
  bool Joint::isInContact() const {
  - return this->effort - this->command > this->contact_threshold;
  + return std::abs(this->effort - this->command) > this->contact_threshold;
  }
  } // namespace franka_gazebo
  