Hello  I am converting my robot arm to gazebo. solidworks 2018 / ROS: kinetic , gazebo: 7.0

★Problem 1. Relatively small parts do not convert well to gazebo

Especially Gripper Links >> gazebo: Play >> Collapse

#Test: 1. Gripper Link: Mass Increase >> collapse 2. Dipper(3) & Wrist(4): Vibration occurs >> combine >> Command: OK

#Code: open_manipulator See ... Under test: Complex / Coming soon

openmanipulatordescription https://github.com/ROBOTIS-GIT/open_manipulator

openmanipulatorgazebo https://github.com/ROBOTIS-GIT/open_manipulator_simulations

#Working process: One Step Assembly

1th: Coordinate system: Based on Front / Male

2th: Axis : Female

3th: Boom(2): Link_2 >> command: OK

4th: Dipper(3): Vibration occurs / command: OK -------> small Size Wrist(4) : More vibration

5th: Dipper Combine(3+4) / Wrist(4): Remove >> ★Not vibration / command: OK

6th: Link5: Vibration occurs / command: OK

7th: GripperServoGear -----------> Very small Size(Relatively) >> collapse Thank you.