Uncontrolled robot movements after world.reset() method call

Hi all,

I have a robot model as URDF file, the import and conversion to a .usd file worked so far.

To start the simulation, I work with the Python API and a write a Python script with some different classes. I use the “robot” class from Isaac Sim API to create a robot object and equip it with suitable controllers in a later step (using the apply_action method from the Articulation class).

However, after calling the world.reset() method, the robot behaves very weird, flying around in the environment instead of “falling” down to the groundplane due to gravity.

Has anyone had similar problems??

Many thanks for your help

1 Like