Hi guys, I was having the same issues that @daniel.romaniuk1 mentioned earlier, including the same jumping behavior, I was trying to import a robot in URDF format created with Fusion 360 and the Fusion2PyBullet plugin, everything works fine until I pressed play in Isaac Sim. For me the problem was that the plugin exported the robot with a silver material, so in the simulation the chassis of a tiny robot weights like 16kg when in reality its about 3kg, that gravity force pushed the tiny wheels of my omni wheels too much, causing them to much into the grid causing overlap between them (this is the cause of the random mini jumpings). I just change the mass value of the chassis (in the property tab) to 3kg and all the problems were gone.