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.
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.