Joint Drive Force Not Working, but Joint Drive Acceleration is. How to set joint force in UI?

Omniverse Isaac Sim
1

Hi Community,

I watched an omniverse video describing how to use joint force and target position in the Isaac UI to simulate a joint rotating or moving. When I tried to apply that knowledge to my own model, joint drive force + target position did nothing, but joint drive acceleration + target position did…

I’m using a typical revolute joint with angular drive and have uploaded a video of an example video (upload tool won’t allow me to attach USD of the project).

All help is appreciated,

Thank you!

2

Solution:

The stiffness and target position properties of the angular drive are too low. I set the stiffness to 100,000 and target position to 80,000 and it worked as expected.

3

Those are some extremely high gains. Is this a unit thing then?

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