Do I need to open Gravity setup if I need to use RL on franka by this simulator and later use sim2real to test in reality?

[chenglei11]

hi @justagist, first i must say thank you sooooooo much for creating this simulator! It saves me a lot of time for a start. I'm currently working on panda arm, and i may need to use RL for training and use sim2real to transfer learing outcome into reality. if i want to do this, is it necessary to open gravity in the panda.world file? i try to open it bu setting it into 0.0 0.0 -9,8, but then when i start run the demo launch, the arm would collapse on the ground, and i couldn't find the solution. hope you can give me some advice, i would appreciate it!

[chenglei11]

already solve the collapse problem, the question remain only one: do i need to open gravity if i later need to use RL and use sim2real？