Manipulator breaking joint limits and going through its own body in Gazebo in ROS2

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Description:

I am currently working with ROS2 Humble and MoveIt 2 to control a manipulator in Gazebo. However, after adding the dynamics tag, I am facing a critical issue where the manipulator breaks through its joint limits and collides with its own body. I am seeking assistance in finding a solution to resolve this problem.

Overview:

• I am using ROS2 Humble , MoveIt 2 and gazebo classic for controlling the manipulator in Gazebo.

• Initially, the manipulator exhibited unusual behavior, which prompted me to seek help on ROS Answers.

• Based on the suggestions received, I added the dynamics tag to address the issue.

• However, the addition of the dynamics tag introduced a new problem where the manipulator breaks through its joint limits and moves unexpectedly.

Specifics:

• The manipulator often ends up colliding with its own body, which is not the intended behavior.

• I have ensured that the joint limits in the URDF file are accurately defined, both before and after adding the dynamics tag.

• The joint configuration in the MoveIt configuration corresponds correctly with the URDF.

• It seems that the addition of the dynamics tag is responsible for the emergence of this new problem.

• I am seeking guidance and assistance to resolve this issue and restore the correct behavior of the manipulator.

• I have attached video HERE