JointState jitter/bouncing when pressing Play in Isaac Sim (ROS integration)

Omniverse Isaac Sim
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Hi everyone. I’m working on a project using Isaac Sim and ROS. I have linked the JointStates to the Isaac joints using an OmniGraph. Everything works fine so far, except when I press Play: the robotic arms behave erratically for a second. I’m attaching a video of the issue. I would like to know if there is a way to eliminate those bounces/jitter at the start

Thanks in advance .

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Hey, I had the same issue, solved by putting both Joint state and Target position (params for joints) to the same value. I guess what’s happening is robot initially start from Joint state and that’s when jitter happens. Additionally, I had to align it with link transforms but guess that’s not your case.

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Thanks, in the end I found the error, the joints had initial position and velocity values that were not set to 0, and that’s what caused that weird behavior.

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