Philipp Wu

Upon further inspection, it seems that the simulation for `PickPlace` is just particularly slow. Are there any suggestions for discovering where the simulation bottleneck is or speeding up the simulation?

@dgealy @brentyi please review / test / offer suggestions.

https://github.com/berkeleyopenrobotics/blue_core/pull/44#issue-260095207, is looking to address this issue. Any suggestions are appreciated!

Humm yes, that's true. Without fixing the robot to the world frame the robot tends to float away in the zero gravity world. We have the zero gravity gazebo world...

Alright sounds good. I've gone ahead and made these two pull requests which should address this. https://github.com/berkeleyopenarms/blue_core/pull/76 https://github.com/berkeleyopenarms/blue_simulator/pull/12 Let me know what you all think!

Humm unfortunatly I have not encountered this issue, so don't have any concreate advice. Do you have more detailed diagnostics? Have you tried restarting the system or the dynamixels?

Humm I'm not sure about this exact issue. As i have not worked directly with the UR5e robotics. Are you able to run the `robotiq_gripper.py` as a stand alone script...

The gello hardware is supported, but the software is not added. I don't have an Annin AR4 so can't develop for it, but you would just need to implement the...