# \#joints **URL:** https://forums.developer.nvidia.com/tag/joints/299.md [Latest](https://forums.developer.nvidia.com/latest.md) · [Categories](https://forums.developer.nvidia.com/categories.md) · [Tags](https://forums.developer.nvidia.com/tags.md) --- ## [What is the difference between OmniJoint and Physics Joint? Can they be converted into each other?](https://forums.developer.nvidia.com/t/what-is-the-difference-between-omnijoint-and-physics-joint-can-they-be-converted-into-each-other/307210)
**Author:** [@Vulcan.Shao](https://forums.developer.nvidia.com/u/Vulcan.Shao)\ **Replies:** 2\ **Last updated:** [October 9, 2026, 5:20am UTC](https://forums.developer.nvidia.com/t/what-is-the-difference-between-omnijoint-and-physics-joint-can-they-be-converted-into-each-other/307210 "2026-10-09T05:20:46Z")
I am studying the use of SMPL human models in Omniverse and executing the relevant motion data in the AMASS dataset. The first question I encountered was the difference between OmniJoint and Physics Joint, which one sho… --- ## [Object attached with FixedJoint not perfectly following robot driven through state:angular:physics:position](https://forums.developer.nvidia.com/t/object-attached-with-fixedjoint-not-perfectly-following-robot-driven-through-statephysics-position/379248)
**Author:** [@alberto.guglielmo1](https://forums.developer.nvidia.com/u/alberto.guglielmo1)\ **Replies:** 1\ **Last updated:** [August 7, 2026, 3:47am UTC](https://forums.developer.nvidia.com/t/object-attached-with-fixedjoint-not-perfectly-following-robot-driven-through-statephysics-position/379248 "2026-08-07T03:47:59Z")
Hi everyone, I am working with a 6-DOF industrial manipulator in Isaac Sim. During the pick operation, an object is attached to the robot using a FixedJoint created at runtime through extension scripts. The main challe… --- ## [Skeljoint: Adding variants to bones causes an unstoppable loop of errors](https://forums.developer.nvidia.com/t/skeljoint-adding-variants-to-bones-causes-an-unstoppable-loop-of-errors/324157)
**Author:** [@ThatHiden](https://forums.developer.nvidia.com/u/ThatHiden)\ **Replies:** 9\ **Last updated:** [August 4, 2026, 5:41pm UTC](https://forums.developer.nvidia.com/t/skeljoint-adding-variants-to-bones-causes-an-unstoppable-loop-of-errors/324157 "2026-08-04T17:41:19Z")
Recently we’re working on bendable volumes for 3d object scattering. For initial tests I to use a basic subdivided cube with rigged bones. The goal was: create a volume mesh which would be bendable/deformable with ske… --- ## [Articulation Joint Controller didn't work](https://forums.developer.nvidia.com/t/articulation-joint-controller-didnt-work/376181)
**Author:** [@t.l](https://forums.developer.nvidia.com/u/t.l)\ **Replies:** 4\ **Last updated:** [July 13, 2026, 6:33am UTC](https://forums.developer.nvidia.com/t/articulation-joint-controller-didnt-work/376181 "2026-07-13T06:33:32Z")
Important: Isaac Sim support Note: For Isaac Sim support, the community is gradually transitioning from this forum to the Isaac Sim GitHub repository so that questions and issues can be tracked, searched, and resolved m… --- ## [A Problem Concerning the Torque Control of Aticulation](https://forums.developer.nvidia.com/t/a-problem-concerning-the-torque-control-of-aticulation/352028)
**Author:** [@1219785606](https://forums.developer.nvidia.com/u/1219785606)\ **Replies:** 5\ **Last updated:** [December 8, 2025, 6:52pm UTC](https://forums.developer.nvidia.com/t/a-problem-concerning-the-torque-control-of-aticulation/352028 "2025-12-08T18:52:49Z")
Isaac Sim Version 5.1.0 Operating System Ubuntu 22.04 GPU Information Model: RTX 5060 Driver Version: 580.95.05 Topic Description I want to simulate a bicycle, so I imported four mechanisms and set up three joints,… --- ## [Cable Carrier (Drag Chain) Simulation via Joints — Possible Instability or Over-segmentation Issue](https://forums.developer.nvidia.com/t/cable-carrier-drag-chain-simulation-via-joints-possible-instability-or-over-segmentation-issue/350913)
**Author:** [@DeerAkiMan](https://forums.developer.nvidia.com/u/DeerAkiMan)\ **Replies:** 3\ **Last updated:** [November 20, 2025, 11:30pm UTC](https://forums.developer.nvidia.com/t/cable-carrier-drag-chain-simulation-via-joints-possible-instability-or-over-segmentation-issue/350913 "2025-11-20T23:30:36Z")
🧩 Topic: Cable Carrier (Drag Chain) Simulation via Joints — Possible Instability or Over-segmentation Issue Isaac Sim Version: 4.5.0 Operating System: Windows 11 GPU Information: Model: RTX 4060 Ti Driver Versi… --- ## [How to create multiple ros2 robot joints states publishers in a single robot?](https://forums.developer.nvidia.com/t/how-to-create-multiple-ros2-robot-joints-states-publishers-in-a-single-robot/347907)
**Author:** [@ded5ec](https://forums.developer.nvidia.com/u/ded5ec)\ **Replies:** 2\ **Last updated:** [October 31, 2025, 9:34pm UTC](https://forums.developer.nvidia.com/t/how-to-create-multiple-ros2-robot-joints-states-publishers-in-a-single-robot/347907 "2025-10-31T21:34:38Z")
Isaac Sim Version 5.1.0 5.0.0 4.5.0 4.2.0 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): Operating System Ubuntu 24.04 Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 … --- ## [ArticulationAction completely ignoring desired velocities](https://forums.developer.nvidia.com/t/articulationaction-completely-ignoring-desired-velocities/341791)
**Author:** [@matthewthomasbeck](https://forums.developer.nvidia.com/u/matthewthomasbeck)\ **Replies:** 4\ **Last updated:** [October 3, 2025, 10:35pm UTC](https://forums.developer.nvidia.com/t/articulationaction-completely-ignoring-desired-velocities/341791 "2025-10-03T22:35:40Z")
Isaac Sim Version 5.0.0 Operating System Ubuntu 24.04 GPU Information Model: GeForce RTX 3090 Driver Version: 575.64.03 Topic Description Detailed Description Velocities are not being honored at all by ArticulationA… --- ## [Rotation limits on custom ball joints ignored when DriveAPI disabled (Isaac Sim 4.5.0 / PhysX Articulation)](https://forums.developer.nvidia.com/t/rotation-limits-on-custom-ball-joints-ignored-when-driveapi-disabled-isaac-sim-4-5-0-physx-articulation/338167)
**Author:** [@zhaowentao](https://forums.developer.nvidia.com/u/zhaowentao)\ **Replies:** 2\ **Last updated:** [July 31, 2025, 3:49pm UTC](https://forums.developer.nvidia.com/t/rotation-limits-on-custom-ball-joints-ignored-when-driveapi-disabled-isaac-sim-4-5-0-physx-articulation/338167 "2025-07-31T15:49:53Z")
Hi there, I’m using Isaac Sim 4.5.0 (PhysX backend) and trying to build a soft, cable-like rod made of many small capsules connected by ball joints. Per previous guidance from the NVIDIA team, I’m constructing each joi… --- ## [How to build a long, variable-stiffness articulated rod (plant stem) without Drive-PD instability?](https://forums.developer.nvidia.com/t/how-to-build-a-long-variable-stiffness-articulated-rod-plant-stem-without-drive-pd-instability/337359)
**Author:** [@zhaowentao](https://forums.developer.nvidia.com/u/zhaowentao)\ **Replies:** 2\ **Last updated:** [July 31, 2025, 3:47pm UTC](https://forums.developer.nvidia.com/t/how-to-build-a-long-variable-stiffness-articulated-rod-plant-stem-without-drive-pd-instability/337359 "2025-07-31T15:47:34Z")
Dear Isaac Sim team, I am using isaac sim 4.5.0 I’m prototyping a physically-based plant model whose main stem and side branches are built from dozens of small capsule links. Each pair of capsules is connected through … --- ## [Specific Joint Not Moving in Isaac Lab While Working in Isaac Sim with the Same USD File](https://forums.developer.nvidia.com/t/specific-joint-not-moving-in-isaac-lab-while-working-in-isaac-sim-with-the-same-usd-file/337813)
**Author:** [@Bigyun](https://forums.developer.nvidia.com/u/Bigyun)\ **Replies:** 3\ **Last updated:** [July 29, 2025, 7:30pm UTC](https://forums.developer.nvidia.com/t/specific-joint-not-moving-in-isaac-lab-while-working-in-isaac-sim-with-the-same-usd-file/337813 "2025-07-29T19:30:28Z")
Isaac Sim Version \[√\] 4.5.0 Operating System \[√\] Windows 11 GPU Information Model: NVIDIA RTX 3090 Driver Version: 560.94 Topic Description Detailed Description I am facing an issue where a finger type gripper compos… --- ## [How to close a 4-link “leaf” loop in an articulation? (distance-joint error)](https://forums.developer.nvidia.com/t/how-to-close-a-4-link-leaf-loop-in-an-articulation-distance-joint-error/337360)
**Author:** [@zhaowentao](https://forums.developer.nvidia.com/u/zhaowentao)\ **Replies:** 2\ **Last updated:** [July 25, 2025, 10:48pm UTC](https://forums.developer.nvidia.com/t/how-to-close-a-4-link-leaf-loop-in-an-articulation-distance-joint-error/337360 "2025-07-25T22:48:54Z")
Hi Isaac Sim team, I am using isaacsim 4.5.0 I’m building a plant model whose stem is a chain of many small capsules joined by compliant articulation joints (variable stiffness along the length). On top of the stem I … --- ## [How to create a closed-loop (ring) leaf structure with rigid “weld” in Articulation?](https://forums.developer.nvidia.com/t/how-to-create-a-closed-loop-ring-leaf-structure-with-rigid-weld-in-articulation/335786)
**Author:** [@zhaowentao](https://forums.developer.nvidia.com/u/zhaowentao)\ **Replies:** 2\ **Last updated:** [July 20, 2025, 3:18pm UTC](https://forums.developer.nvidia.com/t/how-to-create-a-closed-loop-ring-leaf-structure-with-rigid-weld-in-articulation/335786 "2025-07-20T15:18:19Z")
Hi all, I’m trying to model a plant leaf with four connected rigid parts in Isaac Sim using USD/PhysX Articulation. The structure is like a “ring” (closed-loop): Leaf1 connects to Leaf2 by a hinge joint Leaf2 connect… --- ## [Unexpected Spinning Behavior with Fixed Gripper Using Custom USD File](https://forums.developer.nvidia.com/t/unexpected-spinning-behavior-with-fixed-gripper-using-custom-usd-file/331226)
**Author:** [@terence0tan](https://forums.developer.nvidia.com/u/terence0tan)\ **Replies:** 3\ **Last updated:** [June 24, 2025, 4:42pm UTC](https://forums.developer.nvidia.com/t/unexpected-spinning-behavior-with-fixed-gripper-using-custom-usd-file/331226 "2025-06-24T16:42:25Z")
Isaac Sim Version \[√\] 4.5.0 Operating System \[√\] Windows 11 \[√\] Windows 10 Topic Description Detailed Description Hi everyone, I’m trying to achieve an effect where a gripper remains fixed at a point in space, but ca… --- ## [Joint transform is not applied to child link before simulation start](https://forums.developer.nvidia.com/t/joint-transform-is-not-applied-to-child-link-before-simulation-start/331807)
**Author:** [@alex640](https://forums.developer.nvidia.com/u/alex640)\ **Replies:** 1\ **Last updated:** [April 30, 2025, 5:33pm UTC](https://forums.developer.nvidia.com/t/joint-transform-is-not-applied-to-child-link-before-simulation-start/331807 "2025-04-30T17:33:18Z")
Isaac Sim Version 4.5.0 Operating System Ubuntu 22.04 Topic Description Steps to Reproduce Create Link1 in position \[1, 0, 0\] Create Link2 in position \[0, 0, 0\] Create Joint1 with both local positions \[0, 0, 0\] Lin… --- ## [Joint Velocity on Car Wheels Suddenly Stops](https://forums.developer.nvidia.com/t/joint-velocity-on-car-wheels-suddenly-stops/324378)
**Author:** [@johmaryadames1999](https://forums.developer.nvidia.com/u/johmaryadames1999)\ **Replies:** 0\ **Last updated:** [February 19, 2025, 6:56pm UTC](https://forums.developer.nvidia.com/t/joint-velocity-on-car-wheels-suddenly-stops/324378 "2025-02-19T18:56:33Z")
I have been trying to simulate an RC car moving using a Target Velocity. I added a target velocity of 1000 to all the wheels, but I noticed once it reaches 1000, then it suddenly drops to 0 and wheel stops moving. You c… --- ## [Replacement of Bodypose2d(17) joint points with 3dBodypose(34)](https://forums.developer.nvidia.com/t/replacement-of-bodypose2d-17-joint-points-with-3dbodypose-34/317462)
**Author:** [@furqankhan](https://forums.developer.nvidia.com/u/furqankhan)\ **Replies:** 6\ **Last updated:** [December 23, 2024, 6:23am UTC](https://forums.developer.nvidia.com/t/replacement-of-bodypose2d-17-joint-points-with-3dbodypose-34/317462 "2024-12-23T06:23:23Z")
Hi there,iam currently working on integration of bodypose2d model with PoseClassificationNet model and iam also utilizing- Tao convert\_dataset command to convert my bodypose2d.json(17 joints) to numpy arrays but i want t… --- ## [Imported robot create joint "you cannot create a joint between a body and itself"](https://forums.developer.nvidia.com/t/imported-robot-create-joint-you-cannot-create-a-joint-between-a-body-and-itself/314771)
**Author:** [@Yen\_Yan](https://forums.developer.nvidia.com/u/Yen_Yan)\ **Replies:** 0\ **Last updated:** [November 26, 2024, 7:34am UTC](https://forums.developer.nvidia.com/t/imported-robot-create-joint-you-cannot-create-a-joint-between-a-body-and-itself/314771 "2024-11-26T07:34:48Z")
ISAAC sim version: 4.2 I converted my own robot from Creo and want to add joint between the wheel and body, but it shows for each joints I created: 2024-11-26 07:28:45 \[332,978ms\] \[Error\] \[omni.physx.plugin\] PhysicsUSD… --- ## [Does IsaacSim support soft joint limits?](https://forums.developer.nvidia.com/t/does-isaacsim-support-soft-joint-limits/311045)
**Author:** [@wognl04021](https://forums.developer.nvidia.com/u/wognl04021)\ **Replies:** 1\ **Last updated:** [October 31, 2024, 5:08pm UTC](https://forums.developer.nvidia.com/t/does-isaacsim-support-soft-joint-limits/311045 "2024-10-31T17:08:05Z")
Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can al… --- ## [Can't Configure Isaac Sim Robot Properly](https://forums.developer.nvidia.com/t/cant-configure-isaac-sim-robot-properly/311212)
**Author:** [@vickistavro](https://forums.developer.nvidia.com/u/vickistavro)\ **Replies:** 0\ **Last updated:** [October 26, 2024, 9:44pm UTC](https://forums.developer.nvidia.com/t/cant-configure-isaac-sim-robot-properly/311212 "2024-10-26T21:44:01Z")
Hi there! I’m using Isaac Sim Version 4.2.0 on my Windows 11 PC. I’m having an issue with configuring the Franka bot. When moving the joints manually, they continuously disconnect from the rest of the arm, and when i try… --- ## [Issue with NaN Velocities in /joint\_states Topic in Isaac Sim with ROS 2](https://forums.developer.nvidia.com/t/issue-with-nan-velocities-in-joint-states-topic-in-isaac-sim-with-ros-2/307012)
**Author:** [@TharitSinsunthorn](https://forums.developer.nvidia.com/u/TharitSinsunthorn)\ **Replies:** 7\ **Last updated:** [October 22, 2024, 12:11pm UTC](https://forums.developer.nvidia.com/t/issue-with-nan-velocities-in-joint-states-topic-in-isaac-sim-with-ros-2/307012 "2024-10-22T12:11:42Z")
Hi all, I’m running a simulation in Isaac Sim using ROS 2 for my six-wheeled robot, which also has four articulated joints (something likes roger-bogie system in rover). I’ve implemented teleop control via the keyboard,… --- ## [How to Implement Load-Independent Static Friction Torque in IsaacSim Revolute Joint?](https://forums.developer.nvidia.com/t/how-to-implement-load-independent-static-friction-torque-in-isaacsim-revolute-joint/307662)
**Author:** [@giulio.romualdi](https://forums.developer.nvidia.com/u/giulio.romualdi)\ **Replies:** 2\ **Last updated:** [October 4, 2024, 2:25am UTC](https://forums.developer.nvidia.com/t/how-to-implement-load-independent-static-friction-torque-in-isaacsim-revolute-joint/307662 "2024-10-04T02:25:55Z")
Hello everyone, I’m working on simulating a revolute joint in IsaacSim where I need the static friction torque to always be lower than a constant value, say 5 Nm, regardless of the load applied to the joint. From experi… --- ## [Joint Drive Force Not Working, but Joint Drive Acceleration is. How to set joint force in UI?](https://forums.developer.nvidia.com/t/joint-drive-force-not-working-but-joint-drive-acceleration-is-how-to-set-joint-force-in-ui/304016)
**Author:** [@tnraddatz](https://forums.developer.nvidia.com/u/tnraddatz)\ **Replies:** 2\ **Last updated:** [September 3, 2024, 3:59pm UTC](https://forums.developer.nvidia.com/t/joint-drive-force-not-working-but-joint-drive-acceleration-is-how-to-set-joint-force-in-ui/304016 "2024-09-03T15:59:28Z")
Hi Community, I watched an omniverse video describing how to use joint force and target position in the Isaac UI to simulate a joint rotating or moving. When I tried to apply that knowledge to my own model, joint drive … --- ## [How to access the Angular Drive Max Force variable in a Python Standalone script](https://forums.developer.nvidia.com/t/how-to-access-the-angular-drive-max-force-variable-in-a-python-standalone-script/301634)
**Author:** [@koehne1](https://forums.developer.nvidia.com/u/koehne1)\ **Replies:** 0\ **Last updated:** [July 30, 2024, 6:46am UTC](https://forums.developer.nvidia.com/t/how-to-access-the-angular-drive-max-force-variable-in-a-python-standalone-script/301634 "2024-07-30T06:46:41Z")
Hey, is it possible to access the Max Force variable from the Angular Drive in a Python standalone script? I attached a screenshot of the desired variable. Thanks in advance! --- ## [What is the correct way to setup hydraulic actuators?](https://forums.developer.nvidia.com/t/what-is-the-correct-way-to-setup-hydraulic-actuators/300917)
**Author:** [@DiscoFlower8891](https://forums.developer.nvidia.com/u/DiscoFlower8891)\ **Replies:** 2\ **Last updated:** [July 24, 2024, 7:51am UTC](https://forums.developer.nvidia.com/t/what-is-the-correct-way-to-setup-hydraulic-actuators/300917 "2024-07-24T07:51:02Z")
I have a robot with a setup that looks like this. The red and green are the front and back body. Blue parts are hydraulic actuators and pink parts are revolute joints. Now if I set up all the joints like this the sim… --- ## [Unexpected Rack-and-Pinion Joint Behavior in Simulation](https://forums.developer.nvidia.com/t/unexpected-rack-and-pinion-joint-behavior-in-simulation/293417)
**Author:** [@harry987home](https://forums.developer.nvidia.com/u/harry987home)\ **Replies:** 0\ **Last updated:** [May 20, 2024, 5:47am UTC](https://forums.developer.nvidia.com/t/unexpected-rack-and-pinion-joint-behavior-in-simulation/293417 "2024-05-20T05:47:06Z")
Hello, I’m currently working on simulating a gantry robot. While creating the joint relationships between the parts, I encountered a strange behavior with the Rack-and-Pinion Joint. It looks like this: Its angular … --- ## [Difference transform in ROS tf and Isaac stage](https://forums.developer.nvidia.com/t/difference-transform-in-ros-tf-and-isaac-stage/291256)
**Author:** [@nomi27951](https://forums.developer.nvidia.com/u/nomi27951)\ **Replies:** 0\ **Last updated:** [April 29, 2024, 1:56pm UTC](https://forums.developer.nvidia.com/t/difference-transform-in-ros-tf-and-isaac-stage/291256 "2024-04-29T13:56:06Z")
Hi, I am using “ROS1 subscribe joint state” and “Articulation controller” to drive a built-in UR5e model from a ROS topic. On the publishing side, we are using the default calibration file with no changes. The problem … --- ## [Revolute joint not working; how to fix this and other mesh / collider issues](https://forums.developer.nvidia.com/t/revolute-joint-not-working-how-to-fix-this-and-other-mesh-collider-issues/290699)
**Author:** [@victor.ramirez](https://forums.developer.nvidia.com/u/victor.ramirez)\ **Replies:** 3\ **Last updated:** [April 24, 2024, 3:28pm UTC](https://forums.developer.nvidia.com/t/revolute-joint-not-working-how-to-fix-this-and-other-mesh-collider-issues/290699 "2024-04-24T15:28:33Z")
Hi everyone! I am creating an animation for this “cherry picker” machine: Since I am new to Omniverse / Isaac Sim, to get started I am first modeling the revolute joint between the base of the machine and the first “… --- ## [The wheels in the Isaac Sim URDF are not rotating](https://forums.developer.nvidia.com/t/the-wheels-in-the-isaac-sim-urdf-are-not-rotating/290717)
**Author:** [@MellowJoy](https://forums.developer.nvidia.com/u/MellowJoy)\ **Replies:** 0\ **Last updated:** [April 24, 2024, 9:40am UTC](https://forums.developer.nvidia.com/t/the-wheels-in-the-isaac-sim-urdf-are-not-rotating/290717 "2024-04-24T09:40:15Z")
“The above is a file containing the robot’s URDF.” “I was following the Isaac Sim GUI tutorial. I inserted the robot’s URDF, selected the base first according to the tutorial, then selected the wheels and gave them rota… --- ## [Rack and pinion gripper with articulation controller](https://forums.developer.nvidia.com/t/rack-and-pinion-gripper-with-articulation-controller/275529)
**Author:** [@montanacaleb](https://forums.developer.nvidia.com/u/montanacaleb)\ **Replies:** 3\ **Last updated:** [April 19, 2024, 7:15am UTC](https://forums.developer.nvidia.com/t/rack-and-pinion-gripper-with-articulation-controller/275529 "2024-04-19T07:15:25Z")
I am trying to make a gripper with the rack and pinion joint, there will be two opposing fingers to grip objects. I know I could use two linear actuators and just control them separately but my real robot has a rack and … [Next page](https://forums.developer.nvidia.com/tag/joints/299.md?match_all_tags=true&page=1&tags%5B%5D=joints)