Gravity compensation dysfunction when robot is effort-controlled with attached hand
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rickstaa commented
The gravity compensation for the simulated panda in franka_ros is dysfunctional, leading to unintended drift when utilizing effort controllers with an attached hand (see frankaemika/franka_ros#233). Consequently, the pick and place environment is not working when the robot is effort-controlled.
TODOs
- Fix the gravity compensation of the gripper hand in the upstream.
rickstaa commented
This still needs to be solved on the upstream (see frankaemika/franka_ros#233).