Isaac sim 4.0.0 problem, close kinematics chain generating internal force/torque

Omniverse Isaac Sim
1

Hello, another problem arose.

with 2023.1.0.hotfix, if I run the scene without gravity, the robot stays calm.

With 4.0.0, if I run the scene without gravity, it starts to rotate. I guess this closed kinematic chain is generating some kind of internal force/torque. Thus it acts weirdly in my environment (drone simulation). below is the .USD file I am using.

fourbar.zip (17.4 KB)

I also checked it with 2023.1.1, which works fine. So, the problem exists only in the 4.0.0 version.

3

Thanks for reporting I was able to repro this, looking into it now.

1 Like
4

@Junghwan_Ro - while we are tracking down the issue, you can use this as a workaround as I think it would not impact your mechanism: Please disable the -90/90 limits on the loop-closing joint /fourbar/module_0/module_3_0_joint.

1 Like
5

Thank you! It actually solves the problem perfectly for now.

6

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