Content:
I’m planning to implement a robot arm simulation in Isaac Sim, but I want to do it without using the physics engine.
Currently, in order to construct the robot arm, I need to connect each link using joints, which requires adding a RigidBody component. However, once the simulation starts, the robot arm falls due to gravity, which I want to avoid.
What I want is a robot arm that moves precisely to target positions and stops exactly without the effects of gravity, inertia, or any other physical behavior. In other words, I want a purely kinematic simulation without dynamic physics.
Is there a way to achieve this in Isaac Sim?
Isaac Sim Version
4.5.0
Operating System
Windows 10
GPU Information
- Model: RXT 2070
- Driver Version:
Topic Description
Detailed Description
(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)
Even after disabling gravity, there is still some oscillation when moving to the target position. How can I make the robot arm stop exactly at the target without any shaking? I want to achieve this without inertia or using the physics engine.
For most of the joints, I’ve set damping to 0. However, setting stiffness to 0 prevents any movement, so I had to assign it a non-zero value to make the joints respond.