Angular drive rotates joint in the wrong direction

Omniverse Isaac Sim
1

I have an ArticulationBody where one revolute joint behaves incorrectly, and i’m having a hard time figuring out why.

  • The joint limits are -160,160
  • When i change target position, sometimes it starts to rotate in the opposite direction, hits the limit and keeps pushing that way.
  • I set up the joint with the URDF importer and tired a bunch of values for properties like force/velocity limits and damping/stiffness. Nothing changed this behaviour.
  • Occasionally, it also starts spinning continuously without stopping at the limits or changes position when an unrelated joint is moved.
  • I use Isaac Sim 4.1.0

If you have any idea why is this happening, how should i continue debugging, or what settings i might have missed, please let me know.

Thank you!

2

Try setting the Max Force to a larger value