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[feature_request] Add franka_gazebo physics engine argument #362

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rickstaa opened this issue Sep 1, 2023 · 0 comments
Open
2 tasks

[feature_request] Add franka_gazebo physics engine argument #362

rickstaa opened this issue Sep 1, 2023 · 0 comments

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@rickstaa
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rickstaa commented Sep 1, 2023 •
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It would be beneficial if users could change the physics engine used by Gazebo.

I, for example, decided to use DART as the default physics engine since it appears to be the most stable (#160 (comment)). The only downside of using this engine compared to the ODE engine is that the get_physics_properties service call still needs to support the physics engine [bullet].

I created #211 to add this launch file argument. This argument should also be documented in the documentation, but I need help finding the documentation repository.

Important

Please note that the BULLET and SIMBODY physics engines do not work with the current model (see #160 (comment)). I added a warning in #211 adds a warning to communicate this to the user.

TODOs
@rickstaa rickstaa mentioned this issue Sep 1, 2023
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@rickstaa rickstaa changed the title Add franka_gazebo physics engine argument [enhancement] Add franka_gazebo physics engine argument Sep 4, 2023
@rickstaa rickstaa changed the title [enhancement] Add franka_gazebo physics engine argument [feature_request] Add franka_gazebo physics engine argument Sep 4, 2023
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