Flickering issue when controlling Rigidbody movement using Action Graph

Dear Supporter:

Project Description:
In my project, a stacker crane extends its arm to remove goods using friction. However, when I add Rigidbody parameters to the arm, the model flickers because the arm is simultaneously being controlled by the Action Graph to extend (please refer to the video for details).

A workaround is to apply the Rigidbody to a higher-level Xform (such as the entire stacker crane) while only adding Collision to the arm. This way, the Action Graph works well without causing any flickering. However, this solution leads to a loss of friction between the goods and the arm, so the arm can only lift the goods but cannot pull them out.(please refer to the video for details).

Thank you very much for reading my issue. I hope to receive a response soon.

Thanks for the question. Yes I see the issue. When you say it “flickers” do you mean it is flashing with every frame ? Does it actually affect the animation ?
Would you mind collecting the file with the “File > Collect” command and sending it over ?

I am going to move this to the Isaac Sim Forum for you. Please post all Isaac Sim related questions there please.

Thanks for the reply.

Yes, it is flashing with every frame and it affect the simulation.

The corresponding USD file :

Thank you for your help.