Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify): Ubuntu 24.04
GPU Information
- Model: RTX 5070 Ti (on Ubuntu 24.04) and RTX 4090 (on Ubuntu 22.04)
- Driver Version: 575.57.08 (on Ubuntu 24.04)
Topic Description
Detailed Description
The UR5e USD model is faulty and there is absolutely no way to fix it. When you try to move the robot by controlling the shoulder lift joint, the whole arm jiggles as if the joint doesnt even exist. The shoulder joint pops in and out. As with everything else with IsaacSim, this is an annoying problem that occurs for absolutely no reason in an asset provided by Nvidia. And the fact that it has not been raised or fixed makes me wonder if anyone is using IsaacSim at all.
Not only that, by default, this asset is faulty due to deliberate sabotage. Instead of a /ur5e/base_link prim, it contains a /ur5e/world prim, but for some reason both the root_joint and shoulder_pan_joint still look for the /ur5e/base_link prim. Once you fix these two, you can run the simulation and try to fix the following problems:
- Revolute Joints are not restricted to 1 DoF (the axis of rotation), they jiggle in place.
- There is way too much oscillation in the joints.
- The Maximum Joint Velocity attribute has no effect on the maximum joint velocity because of course it doesn’t.
I compared the attributes with the UR5 (which works fine) and I cannot make sense of what the difference is.
Steps to Reproduce
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Error Messages
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Additional Information
What I’ve Tried
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Related Issues
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Additional Context
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