diff --git a/hebiros_gazebo_plugin/include/hebiros_gazebo_controller.cpp b/hebiros_gazebo_plugin/include/hebiros_gazebo_controller.cpp
index a31c3f7..9f299c6 100644
--- a/hebiros_gazebo_plugin/include/hebiros_gazebo_controller.cpp
+++ b/hebiros_gazebo_plugin/include/hebiros_gazebo_controller.cpp
@@ -366,9 +366,9 @@ double HebirosGazeboController::ComputeForce(std::shared_ptr<HebirosGazeboGroup>
   hebiros_joint->temperature.update(power_in, iteration_time.toSec());
   hebiros_joint->temperature_safety.update(hebiros_joint->temperature.getMotorWindingTemperature());
 
-  //alpha = hebiros_joint->low_pass_alpha;
-  //force = (force * alpha) + hebiros_joint->prev_force * (1 - alpha);
-  //hebiros_joint->prev_force = force;
+  alpha = hebiros_joint->low_pass_alpha;
+  force = (force * alpha) + hebiros_joint->prev_force * (1 - alpha);
+  hebiros_joint->prev_force = force;
 
   return force;
 }
diff --git a/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h b/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
index 6ec767e..16a2fdd 100644
--- a/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
+++ b/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
@@ -48,6 +48,9 @@ class HebirosGazeboPlugin: public ModelPlugin {
     void AddJointToGroup(std::shared_ptr<HebirosGazeboGroup> hebiros_group, std::string joint_name);
     void UpdateGroup(std::shared_ptr<HebirosGazeboGroup> hebiros_group, const ros::Duration& iteration_time);
 
+    double prev_effort;
+    double low_pass_alpha;
+
     bool SrvAddGroup(AddGroupFromNamesSrv::Request &req,
       AddGroupFromNamesSrv::Response &res);
 
diff --git a/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp b/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
index 27213c1..1dc6639 100644
--- a/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
+++ b/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
@@ -24,6 +24,9 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
   this->update_connection = event::Events::ConnectWorldUpdateBegin (
     boost::bind(&HebirosGazeboPlugin::OnUpdate, this, _1));
 
+  this->prev_effort = 0.0;
+  this->low_pass_alpha = 0.1;
+
   ROS_INFO("Loaded hebiros gazebo plugin");
 }
 
@@ -68,9 +71,14 @@ void HebirosGazeboPlugin::UpdateGroup(std::shared_ptr<HebirosGazeboGroup> hebiro
       joint->SetProvideFeedback(true);
       double position = joint->GetAngle(0).Radian();
       double velocity = joint->GetVelocity(0);
-      physics::JointWrench wrench = joint->GetForceTorque(0);
-      auto trans = joint->GetChild()->GetInitialRelativePose().rot;
-      double effort = (-1 * (trans * wrench.body1Torque)).z;
+      //physics::JointWrench wrench = joint->GetForceTorque(0u);  // Net torque (motor + environment). Non-zero values represent transient effects.
+      //double effort = -1*wrench.body2Torque.z;                  // reactive torque from motor
+      //effort = std::max(-20.0, std::min(20.0, effort));
+      //effort += joint->GetForce(0);                             // torque from motor
+      double effort = joint->GetForce(0);
+      double alpha = this->low_pass_alpha;
+      effort = (effort * alpha) + this->prev_effort * (1 - alpha);
+      this->prev_effort = effort;
 
       hebiros_group->feedback.position[i] = position;
       hebiros_group->feedback.velocity[i] = velocity;