Once I have imported the mesh from Blender, separating the body parts by joints, when I add the RevolutesJoint, they do not rotate on themselves, but rather on a circumference and instead of having the shoulder rotate on the body, it moves. I am attaching photos of how I have it set up in Isaac Sim.
If someone could help me I would really appreciate it, it has been giving me headaches for a few days now.
Hi @miguelezalex thank you for posting your question. It is likely that the behavior is due to the local joint position you are using as shown in your second screenshot. You want to set the Local Position 0 to be at the center of the revolute axis relative to the local frame of the parent body (in the case of the shoulder, the parent body is the torso). You might be able to measure that position offset in Blender.
Let me know if that helps.
Michael
Thanks a lot for the info, although I’m kind of new to Blender and don’t really know how to measure it. Could you give me some more instructions? And once I have the Blender position, do I simply copy x, y, and z to Isaac Sim’s?
Instructions on blender is out of the scope of this forums, but you can check out their tutorials: Measure — Blender Manual
I will close the topic for now as it seems like your original problem will be solved with the suggestion. Please feel free to open a new topic if you continue to have issues.