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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
188 stars 58 forks source link

Gravity #56

Closed rouzinho closed 2 years ago

rouzinho commented 2 years ago

Hi !

I run the simulator on noetic and I had trouble using some gazebo model objects I was previously using. it seems like there is no gravity in the world launched. That caused my objects to be affected and float around when I interact with them. I tried to set the gravity within the object sdf but without effect (the world seemed to override this). I activated the gravity in the panda.world and I can interact with my objects like before without (for now) bad consequences for the robot. I precise that I use the moveit interface. Was there a specific reason to disable the gravity ?

justagist commented 2 years ago

Hi @rouzinho, That is a good question. The gravity compensation in the simulator is not very good at the moment (see last point in https://github.com/justagist/panda_simulator#known-issues). This can be seen only if you use velocity or torque control, and should not be a problem if you use position control.

rouzinho commented 2 years ago

Okay, so I guess I'll keep going this way. Thanks !