Robot Arm moving randomly after running script to open/close gripper

asked 2019-10-02 18:26:04 -0500

Hi,

I have just started ROS course in my University and we are given a JACO arm simulation in gazebo where we have to open and close the gripper using a python script but as soon as I run the script to open or close the gripper, the robot arm starts moving slowly in a random direction and doesn't stop. The arm is simulated as being on a tabletop and it goes through the table if it starts moving towards it which it is not supposed to as it is a solid object. It obeys the physics otherwise when I move the arm using "moveit!" command line. One other thing that I noticed was that with each simultaneous script run to either close or open gripper, the speed of the random motion increases slightly. So, any help to understand what is going on would be really great.

Here is the link to the video of the simulation and random motion if it is of any help: https://imgur.com/a/UbYsMeS

Thank You.

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