Hi，everyone.
I follow the tutorial isaac_panda_tutorial and use ros2_control to connect IsaacSim and MoveIt2.
I found that the robot arm’s trajectory is not smooth during movement, and I recorded the topic “/isaac_joint_commands” and “/isaac_joint_states” by using ros2bag.
I found that the tracking accuracy of the joints is not good, as shown in the following figure
I guess this is because IsaacSim interpolated the acceleration and deceleration trajectories of each received point at the bottom layer,
Can someone help me solve this problem and make the movement of the robot arm look smoother? Thank you very much.
version: IsaacSim4.1.0, MoveIt2 humble
Hey @rodineye! Sorry for my late reply. Isaac Sim 4.2.0 is just released. Have you tried with Isaac Sim 4.2.0?
Here is my plot with 4.2.0 and it looks pretty smooth (position is joint7).
Thanks for your reply @zhengwang . I have tested a ur5 robot arm model and found that 5 of its 6 joints have good tracking accuracy, but the following curve of the 3rd joint (elbow joint )has a strange jump.
the good result is as follow for other 5 joints:
can you help me for the reason？Thank you.
And if I use the version 2023.1.1, this “strange jump” phenomenon does not occur, I hope this can be helpful
Hi @rodineye the jump doesn’t seem to be significant and consistent across your tests. I suspect it is due to joint limits. Have you tried increasing the joint limits? Our latest stable version is Isaac Sim 4.5 and you can also give it a try.
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