Gravity compensated on the gripper but not in the objects

[ignpaub]

Good morning:

First of all, congratulations on your amazing work.

I'm trying to create a new simulation with a new gripper and I read on your thesis that "Gravity is compensated on the gripper, but not the objects.". I've taken a look at the codes but I'm not able to fully understand how you are doing it.

Could you provide some insights on it?

Thanks a lot.

Ignacio

[BarisYazici]

This means that gravity is not acting on the gripper. But the gravity is acting on the objects. I think in the code I simply command position of the gripper in the 3d space. Nothing extra is done.