# Strech robot Gazebo simulation on local computer

**URL:** <https://forum.hello-robot.com/t/strech-robot-gazebo-simulation-on-local-computer/1081>\
**Category:** Ask\
**Created:** [August 16, 2024, 8:07am UTC](https://forum.hello-robot.com/t/strech-robot-gazebo-simulation-on-local-computer/1081 "2024-08-16T08:07:06Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Mustofa](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/mustofa/32/598_2.png) [@Mustofa](https://forum.hello-robot.com/u/Mustofa)\
**Post date:** [August 16, 2024, 8:07am UTC](https://forum.hello-robot.com/t/strech-robot-gazebo-simulation-on-local-computer/1081/1 "2024-08-16T08:07:06Z")

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Hi all.  
I would like to simulate stretch robot on local computer. I followed [stretch\_ros/stretch\_gazebo at master · hello-robot/stretch\_ros · GitHub](https://github.com/hello-robot/stretch_ros/tree/master/stretch_gazebo) and catkin\_make it in my local computer.  
However, it turned out the stretch robot steadily turning clockwise in gazebo making it not correct.  
Did I miss something?  
Thank you.

Before:  
 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/e626bab67ae44eba9abbdb698bf799d2a12604ad.png)

After:  
 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/1282eb9c759f1b16579d673c1fa9bd3b47c17f83.png)

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [September 3, 2024, 8:04pm UTC](https://forum.hello-robot.com/t/strech-robot-gazebo-simulation-on-local-computer/1081/2 "2024-09-03T20:04:58Z")

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I haven’t seen the steady clockwise issue you’re describing, but I know the Gazebo Physics engine can be finicky. Recently, I pushed a PR to Stretch ROS that updated the XACROs to make the physics more stable. I’d recommend ensuring you’re using the latest commit. Details in the PR:

> <https://github.com/hello-robot/stretch_ros/pull/122>
>
> In PR https://github.com/hello-robot/stretch\_ros/pull/110, we did system identif…ication work to find realistic mass/inertia matrices for the Stretch URDF. Unfortunately, these new values makes Gazebo unhappy:
> 
> 
> https://github.com/hello-robot/stretch\_ros/assets/64861565/5ac4374c-704c-4d3a-9ba7-343af06d2660
> 
> You can reproduce this by running:
> \`\`\`
> roslaunch stretch\_gazebo gazebo.launch
> 
> \# in a new terminal
> roslaunch stretch\_core teleop\_twist.launch twist\_topic:=/stretch\_diff\_drive\_controller/cmd\_vel
> \`\`\`
> 
> This PR copies the older xacros into the Stretch Gazebo package and has the Gazebo simulation use these older xacros. The behavior now looks like:
> 
> https://github.com/hello-robot/stretch\_ros/assets/64861565/a2cc763c-7f91-44ff-82fd-5458924aed7a

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<div class="post-metadata">

**Author:** ![Mustofa](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/mustofa/32/598_2.png) [@Mustofa](https://forum.hello-robot.com/u/Mustofa)\
**Post date:** [September 5, 2024, 1:51pm UTC](https://forum.hello-robot.com/t/strech-robot-gazebo-simulation-on-local-computer/1081/3 "2024-09-05T13:51:41Z")

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Thank you for the reply. however, it is quite different from the issue that I am facing. While looking to the stretch github repo, I found this similar issue [Gazebo bug with stretch](https://github.com/hello-robot/stretch_ros/issues/101) which unfortunately there is no conclusion on the discussion.