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gazebo robot finger joint values not reaching the expected values

I noticed that the finger can reach an arbitrary configuration only in free space. If the robot undergoes a task of making contacts, then over a time period, the joints gets into a situation where it cannot be set to a defined configuration. I tried recommendation from ros-answers, which suggested modifying min_step_size and iters params.

Reducing iters < 100 causes too much jittering of joints
Increasing iters > 100 makes everything slow and no improvement
changing min_step_size causes the robot to collapse
I could only reach the expected configuration at the end of an episode, only if the robot is allowed to wait for 10+ seconds.

If anybody has faced this issue in the past, could you please suggest some recommendations on how to handle this?
initial configuration
Over the time period, it can only reach the configuration in the image below:
image description