diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
index 84686061..212d3f31 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -36,8 +36,7 @@ body:
       description: "Please complete the following information."
       value: |
         - OS: [e.g. Windows, Mac, Linux, iOS, android]
-        - Browser [e.g. chrome, safari, brave, firefox]
-        - Version [e.g. 22]
+        - Panda gazebo version: [e.g. v2.15.4]
   - type: textarea
     attributes:
       label: Additional context
diff --git a/panda_gazebo/docs/source/get_started/issues.rst b/panda_gazebo/docs/source/get_started/issues.rst
new file mode 100644
index 00000000..0b368655
--- /dev/null
+++ b/panda_gazebo/docs/source/get_started/issues.rst
@@ -0,0 +1,41 @@
+============
+Known Issues
+============
+
+This document outlines the known issues with the :panda-gazebo:`panda_gazebo <>` package you 
+may encounter while using. We recommend checking :panda-gazebo:`the issues page <issues>` on the
+:panda-gazebo:`GitHub repository <>` for updates.
+
+Gravity Compensation Bug
+-------------------------
+
+- **Issue**: Gravity compensation is not working properly when the robot is effort-controlled.
+- **Reference**: `#39 <https://github.com/rickstaa/panda-gazebo/issues/39>`_
+
+Due to an upstream bug in the :panda-gazebo:`franka_gazebo <>` package, the gravity compensation feature may not function as expected. 
+This issue can be mitigated by switching the physics engine from `ODE`_ to `DART`_ using the ``physics`` argument in the ``simulation.launch`` file:
+
+.. code-block:: bash
+
+    roslaunch panda_gazebo simulation.launch physics:=Dart
+
+Simulation Crashes with DART Physics
+--------------------------------------
+
+- **Issue**: The simulation sometimes crashes when the `DART`_ physics engine is used and the gripper is controlled.
+- **Reference**: `#196 <https://github.com/rickstaa/panda-gazebo/issues/196>`_
+
+Users may experience occasional simulation crashes when using the `DART`_ physics engine and controlling the gripper. We
+recommend switching to the `ODE`_ physics engine when using the gripper.
+
+Gripper Problems when Vertical
+------------------------------
+
+- **Issue**: The gripper is not working properly when being vertical to the ground.
+- **Reference**: `#33 <https://github.com/rickstaa/panda-gazebo/issues/33>`_
+
+Due to incorrectly tuned PID gains in the :panda-gazebo:`franka_gazebo <>` package, the gripper may not function properly when it is oriented
+vertically to the ground.
+
+.. _ODE: http://www.ode.org/
+.. _DART: https://dartsim.github.io/
diff --git a/panda_gazebo/docs/source/get_started/usage.rst b/panda_gazebo/docs/source/get_started/usage.rst
index 1ecfa868..95b61057 100644
--- a/panda_gazebo/docs/source/get_started/usage.rst
+++ b/panda_gazebo/docs/source/get_started/usage.rst
@@ -20,7 +20,7 @@ modes that can be selected using the ``control_mode`` argument:
 
     - ``trajectory``: The robot is controlled using joint position trajectories.
     - ``position``: The robot is controlled using joint position commands.
-    - ``effort``: The robot is controlled using joint effort commands.
+    - ``effort``: The robot is controlled using joint effort commands.    
 
 .. Note::
 
diff --git a/panda_gazebo/docs/source/index.rst b/panda_gazebo/docs/source/index.rst
index daf436c2..6d656f8f 100644
--- a/panda_gazebo/docs/source/index.rst
+++ b/panda_gazebo/docs/source/index.rst
@@ -63,6 +63,7 @@ Contents
 
    get_started/install.rst
    get_started/usage.rst
+   get_started/issues.rst
 
 .. toctree::
    :maxdepth: 2