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Gravity compensation dysfunction when robot is effort-controlled with attached hand #39

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rickstaa opened this issue Dec 13, 2021 · 1 comment
Open
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Gravity compensation dysfunction when robot is effort-controlled with attached hand #39

rickstaa opened this issue Dec 13, 2021 · 1 comment
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bug Something isn't working upstream Problems caused by upstream issues.

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@rickstaa
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rickstaa commented Dec 13, 2021 •
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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 rickstaa added the bug Something isn't working label Dec 13, 2021
@rickstaa rickstaa added the upstream Problems caused by upstream issues. label Aug 2, 2023
@rickstaa
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This still needs to be solved on the upstream (see frankaemika/franka_ros#233).

@rickstaa rickstaa changed the title Gravity compensation not working when hand is attached Gravity compensation dysfunction when robot is effort-controlled with attached hand Nov 22, 2023
@rickstaa rickstaa pinned this issue Dec 13, 2023
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