The velocities of the hand joints using Gazebo are not zero when not moving

[beatrizleon]

These causes that, when planning trajectories for the hand, the trajectories fail with goal velocity tolerance because the desired velocity is zero but the current one is no. I checked and the hand is not stable in gazebo and therefore some of the joints have velocities even when the hand is not moving.

This can be solved increasing the param stopped_velocity_tolerance in the configuration files
but I have seen velocity values for some joints of about 45. Also needs to be changed for the arm as the hand wrist joints are defined there.

[guihomework]

This was detected at our place too, and we used the same workaround. I did not manage to reduce the vibration with parameters tuning such as damping or inertia changes. I think the hand just uses too small inertia compared to the arms. This is an issue in gazebo that is known (huge differences in inertia produce strange behaviors).

maybe you could filter the velocity (this is often vibrations around the correct value) when store in the handlers by the gazebosim as you have control on that plugin.