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Running Gazebo and commanding the arm with MoveIt I have seen issues with the arm not moving to the commanded pose, moving past the goal or some joint's continuing to move forever.
Running Gazebo and commanding the arm with MoveIt I have seen issues with the arm not moving to the commanded pose, moving past the goal or some joint's continuing to move forever.
System Setup: c3pzero container running Humble and Gazebo Fortress
Here are some pic's of the goal pose and the ghost robot is showing the final pose of the arm as reported from simulation.
![image](https://private-user-images.githubusercontent.com/25058794/246895186-ba5a7cce-4d99-4fbb-a5b1-a1e6ff061eb7.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjMzOTIxNjUsIm5iZiI6MTcyMzM5MTg2NSwicGF0aCI6Ii8yNTA1ODc5NC8yNDY4OTUxODYtYmE1YTdjY2UtNGQ5OS00ZmJiLWE1YjEtYTFlNmZmMDYxZWI3LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTElMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODExVDE1NTc0NVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTJkNjhjYzFhY2QxNTMwNmMzMTZkMDY0ZmQ4NWE5YjY1NjViMGM5Y2FkYjAxODZmZmYyMTE5NGYxYWVkMTdmYTEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.19Evn-CAGlH-ZW4zP-xGdHivPv_KVUrCbRHJ01AkbiQ)
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