Issue with Increasing Mimic Joints on Isaac SIm

A robot model with four manipulators was created in microgravity using Isaac Sim. The model has a total of 20 joints, with all but one being mimic joints, meaning they move in sync with a single joint. However, when running the simulation, the manipulator is supposed to fold, but instead, it oscillates while extended. When the number of joints is reduced to 17, this oscillation disappears, and the manipulator successfully folds. This same behavior occurs even when the positions of the reduced joints are changed.

How can we get the manipulator to function properly with all 20 joints? What do you think could be causing this issue? If there’s any additional information I should consider, please let me know and I’ll provide it.

Isaac Sim Version

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):

please use the latest Isaac Sim release, 4.5

1 Like

Thank you for your reply. I immediately changed the Version of Isaac Sim to 4.5.0. However, the behavior did not change.

Is there any influence of parameters such as stiffness and damping?

Isaac Sim Version

[ ] 4.2.0
[ ] 4.1.0
[ ] 4.0.0
4.5.0
[ ]2023.1.1
[ ] 2023.1.0-hotfix.1
[ ] Other (please specify):