Hi,

I am simulating the fanuc m710ic50 in gazebo. I found the CAD model online and generated the URDF for it using the URDF Exporter in SolidWorks. I am using the position_controllers/JointTrajectoryController for position control.

The model and controllers spawn without any errors but the robot is shaky. I see it continuously jitter and need help solving this issue.

I have tried/thought of the following things but haven't succeeded:

1. PID gains - Since, it is a positional controller there is no use for PID gains.
2. Inertia and Mass values - I have tried to generate the inertial values for some of the links using this https://classic.gazebosim.org/tutorials?tut=inertia but even with the scaling it causes vigorous shaking. For some of the links I could not generate inertial values since meshlabs can only generate it for watertight objects.
3. I increased the friction and dampening values but I don't believe it is related.
4. Another possible problem could be internal collision but I don't know how to identify it.

Can someone help me identify the problem or list all the possible issues and a general idea of how to solve it? I can share the urdf file if need be.

Thank you.