Gravity Compensation

Great to see the team working on running Reachy through ROS!

I was wondering if the fact that the URDF file contains inertial and mass values would make it easier to go about the arm’s gravity compensation problem if ROS is used with moveit instead of using just the normal python API?

Generally curious to find how the community is attempting to find a solution to the gravity compensation issue, whether it’s through other python frameworks or through moveit.

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I have same question, but i seems no one answer.