Hi everyone, I’ve been following a tutorial video How to Use MoveIt with Isaac Sim: A Step-by-Step Guide on using a UR robotic arm with MoveIt in Isaac Sim. This tutorial uses the topic_based_ros2_control method, as described in the official MoveIt documentation here: How To Command Simulated Isa…

@daohui.liu I am facing the same issue…The robot arm in Isaac sim doesn’t reach the desired goal configuration sometimes and will just hang at some other random joint configuration, while the arm in moveit reaches the desired goal joint configuration. I have had this issues for a couple of months no…

@daohui.liu Quick update: I believe the issue was caused by a mismatch in the joint limits between the urdf.xacro file used by MoveIt and the USD file used by Isaac Sim for the arm. I still need to test this change further, but I’ll provide an update here if it turns out that this fix doesn’t fully …

Thanks for your comment and insights! I think the issue might actually be because the plans generated by MoveIt (when using the topic_based_ros2_control method) only include position data and not velocity or acceleration. I did some testing with Isaac Sim’s built-in motion generation methods like RM…

@daohui.liu thank you for the reply. I also suspected that just sending positions in /joint_values topic from moveit to isaac sim is not the cleanest way to move robot in isaac sim. I also have to try out the articulation API to see if there any difference in the motions. I am eager to hear about yo…

Hi, I’ve done some testing, and I think I’ve solved this issue. It doesn’t seem to be about whether velocity is being published. The problem looks more like it’s related to the articulation root setup. What worked for me was not using OmniGraph to create the articulation root, ROS subscribers, and…

Hey, Did you manage to get it working? I am facing a similar issue here…

Inconsistent Trajectory Following in Isaac Sim with MoveIt Using topic_based_ros2_control

Robotics & Edge Computing Robotics - Isaac Isaac Gym

radhen.17 January 3, 2025, 12:14pm 7

@daohui.liu thank you so much for the update. I will try out something similar soon and share my findings.

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Inconsistent Trajectory Following in Isaac Sim with MoveIt Using topic_based_ros2_control

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