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The gripper controller is not detecting stall due to gripper velocity jitter. Try adding these two lines to your aaai_lfd_simulator/launch/simulation_world.launch:

<!-- Set params for sim -->
<param name="r_gripper_controller/gripper_action_node/stall_velocity_threshold" value="0.01" type="double"/>
<param name="l_gripper_controller/gripper_action_node/stall_velocity_threshold" value="0.01" type="double"/>

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