Isaac Sim Version
4.5.0
Operating System
Windows 11
GPU Information
- Model: 4060 Ti
- Driver Version: 576.28
Topic Description
Detailed Description
Hi everyone,
I ran into an inconsistency while working with the URDF importer for my robot manipulator. The robot consists of a manipulator mounted on a mobile base, and to simplify the tuning process, I decided to import it with the base set as static. Surprisingly, just changing the base from moveable to static led to completely different joint behavior, even though all the parameters were kept the same.
I made sure that the damping, stiffness, and joint weights were identical between both versions. Just to be sure, I re-imported the URDF using the exact same file and setup, changing only the “Moveable Base / Static Base” parameter. I initialized both versions from the same position and applied the same target joint positions, using identical values for the natural frequency and damping ratio across all joints. Despite this, the results were clearly different between the two configurations.
This behavior is confusing and quite frustrating, as it essentially invalidates all the tuning work I had done beforehand. I’m wondering if anyone else has experienced this or has any idea what might be causing such a difference.
Any help or clarification would be greatly appreciated.
Thanks in advance!
