Hello there,
I am trying to implement integration of the Moveit package with Isaac Sim but am finding a discrepancy between the subscribed joint state. I am running the Moveit package in ROS Noetic and subscribing the joint state message in Isaac Sim through the action graph, but it seem the robot (Franka) tires to compensate or has some lag that causes the robot movement to be unstable. When going to a position the robot arm swings for a while instead of performing an smooth motion. This causes the overall pick and place motion to be unstable.
I am aware there are other methods for the pick and place task, but I am trying to achieve a baseline before switching to another robot and other more complex tasks. But since I am unable to perform the pick an place something must be wrong.