Using Panda.urdf in gazebo examples

[RemcoVDoorn]

Hello.
I am trying to use the the panda.urdf file (orca/examples/resources) as robot model input for the examples involving Gazebo, in particular the trajectory following example.

However, the robot does not behave as expected, (see images ).
In order to load the model successfully i had to change two things in the example code, and add one thing in the urdf file.

In the example code i changed the link names according to the urdf file:
(line 110) setBaseFrame to " panda_link0"
(line 172) setModelConfiguration { "panda_joint1", "panda_joint3","panda_joint5"}

in the urdf file i added:

Gazebo/Grey

in order for the panda_link0 to be visible.

Are there additional steps i have to take to use panda.urdf with the example codes?
I tried with both gravity compensation true and fale. i.e.
(line 252) removegravityTorquesFromSolution(true) and false.

Thanks in advance!

Greetings
Remco