In the Volume 4 Disc 1 commentary someone (I think it was David X. Cohen) mentioned that the one thing that still bothers him to this day about 2001: A Space Odyssey is how there's gravity in the Pod Bay of the Discovery when everything else is so scientifically accurate, well, I have the answer.
There is no gravity in Discovery's Pod Bay, as established earlier in the movie (the PanAm Shuttle and the Moon Pod) in zero-G people wear "grip shoes" (I guess they're supposed to be Velcro-like) to hold onto the floors (or walls) to walk. The Pod Bay consists of these same "grip" areas (the black on the floor), so while it appears Bowman is walking normally, he's actually stuck to the floor! This is also supported by 2010: The Year We Make Contact where everyone's seen wearing these same "grip shoes" when they talk to HAL-9000.
So there you go...rest assured there is NO gravity on the Discovery aside from the rotating centrifuge.
BTW, the commentaries are excellent! I'm very sad that there will be no more volumes, though I'm happy to own all Futurama episodes, the show died far too soon :-(
Damn you, Fox!!!