6.0.0
5.1.0
Operating System
Ubuntu 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: Nvidia L4
- Driver Version:580.105.08
Topic Description
Detailed Description
Hi there, I’m new to using Isaac sim, I was performing a simple experiment of tuning a PD controller to stabilize cartpole system, where i observed that cart was drifting to one of the sides while being upright only to hit the slider limit and fall over everytime. To troubleshoot this, I loaded up the usd file and set all damping, friction attributes to zero of all joints to see the natural behaviour and to my surprise there was still a drift in the system and energy is being dissipated too(i have attached a demo of the issue). Is this how underlying solver works? then what’s the role of damping coeffs, am i missing something here? appreciate any insights.
Steps to Reproduce
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Load the usd file at “/Isaac/Robots/IsaacSim/Cartpole/cartpole.usd” in the asset browser
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Set all damping and friction coefficients to 0.
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Press play and change the revolute joint state slightly to disturb the equilibrium, and watch as the system dissipates its energy, instead of oscillating back and forth at the same place.
Screenshots or Videos
(If applicable, add screenshots or links to videos that demonstrate the issue)
Additional Information
What I’ve Tried
Checked if the slider rail is slightly tilted but no. Drift can happen in both directions depending on the initial position. In the demo, i nudged the cart, but even initializing the joint slightly off equilibrium shows same result.