Stretch Link Oscillation in Gazebo

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1

Hi, I’m trying to execute box delivery task using stretch II in gazebo simulator.
But, when stretch II rotates, there is severe oscillation on wrist like below clip.
stretch_gazebo

How can I fix it?
I tried removing collision mesh of all the arm link in urdf file, disabling gravitiy adaption in gazebo and disabling collision between gripper and other object when it is regarded as grasped using gazebo_grasp_flugin. But still same problem occurs.
Thank you for reading.

2

Hi @gsh04089, we recently fixed this issue. Details on the solution are available here: Instability in gazebo from non-gazebo tuned xacros by hello-binit · Pull Request #122 · hello-robot/stretch_ros · GitHub

Here’s what the simulation looked like before:

Here’s what it looks like after:

You can simply pull the latest ‘noetic’ branch to get the fix:

roscd stretch_gazebo
git status #confirm you're on the 'noetic' branch
git pull