Revolute Driver is shaking in the first joint

Hi, I’m a new one for Isaac Sim. I trying to build up one UR5e usd with STL, and I create the joint and set the damping and stiffness for every-joint. But the base-shoulder joint will shake when starting the isaac sim. Do you know why this happens?

It looks like your damping and stiffness parameters are way too high - can you try setting them to 1e4 and 1e5 respectivelly (for all driven joints), and scale down or up based on what behavior you expect?

I have tried the big/small damping and stiffness parameters. But it is still like the video’s performance.

I used the URDF importer to import a robot and the joint would not shake again.

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