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That is when gazebo starts commanding the joints, which means there is something wrong with your model.

Without having any information on the model, all I can say is start by looking into your inertias. As a simple test, replace all inertias, for example, with the inertia of a unit box and observe what happens.

That is when gazebo starts commanding the joints, which means there is something wrong with your model.

Without having any information on the model, all I can say is start by looking into your inertias. As a simple test, replace all inertias, for example, with the inertia of a unit box and observe what happens.

Edit:

The center of mass and inertia at the center of mass of each link from fusion 360 is exactly what you need (don't forget to correct for the dimensions). If you want to simplify things or you have any complications, the next best thing is to approximate the inertias with the inertias of the bounding boxes. And as a side note, you can visualize the inertias in gazebo. Their size should be around the size of the links.

Now, regarding the instability of the model. Check any physics parameters you might have set in the world description and any surface parameters for the links of the robot. As no information is provided, I'll suggest removing all parameters, gradually adding them back, and playing with the values, while ensuring the stability of the model. You'll probably have to go back and forth a few times.