I’m having trouble to get the my robot arm (Igus Rebel) to do pose tracking in Isaac Sim. I’ve previously did the pose tracking with the same pipeline in Gazebo and physical robot and it is working fine. But when it comes to Isaac Sim it shaking. I tried using Panda arm with the same pipeline and it is working fine.
For the joint controllers, I’m using the topic based system. When I used ros2 topic echo /joint_command, I do observe fluctuations in the value. Does anyone know what could be the reason behind the fluctuations and why with the panda arm I do not have the same problem
@lee43 i could be wrong, but based on the clips you’ve posted, my suspicion relates to the collisions generated by the URDF import. there is another thread with unexpected behavior as well which may be relevant and could allow us to pinpoint the issue in your use case:
the built in franka already has its collisions tuned, so that’s another reason why i think it may be a good starting point to investigate. you can enable all the colliders on your robot arm via the viewport config:
