I just finished importing a robotic from a URDF file using the URDF importer: I have a fixed base followed followed by a series of revolute and prismatic joints. After adding collisions to each mesh, a ground plane and physics scene, I proceeded to add an Articulation Root to the fixed joint. When I press ‘Play’ all the joints seem to be affected by gravity and fall towards the ground instead of staying fixed like any usual robotic arm. How would I go about maintaining initial position when pressing play? I have damping/stiffness set for all the joints
Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.
Please check the masses of the robot and/or increase your stiffness. You may have a damping/stiffness parameters that are too weak to hold their poses. The actual values will depend on your robot configuration, so it’s hard to give a recipe on how to tune it, but I’d start by cranking it up all the way and reduce it until you reach the desired behavior.
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