Shaking Manipulator Links in Isaac Sim

Omniverse Isaac Sim
1

Hi Dear Community,

I am trying to create a manipulator in Isaac Sim. But it has a poor moving. It’s shaking and it takes a long time to damp the shakes in rotation.

I have uploaded the usd file. If you try to change the position of the robot’s actuators of the robot in middle you’ll see the difference with he robot on the right handside.
Can anyone let me know how can I solve this issue?

Best
new_kinova.usd (3.1 MB)

2

Hi everyone. I could figure out the reason of this problem. It was the Articulation Root. I added the articulation root feature to the robot’s Xform and it solved the problem.

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