h1_with_hand.urdf importing error with isaac sim 4.2.0 urdf importer

unitreerobotics / unitree_ros

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h1_with_hand.urdf importing error with isaac sim 4.2.0 urdf importer #109

Open TutooLah opened 1 month ago

TutooLah commented 1 month ago

Hi!

We're trying to interact with a joint of the H1 robot imported by Isaac Sim 4.2.0 URDF Importer.

As the video shows, everything was fine with h1.urdf at first, but once the h1 robot had his hands (with h1_with_hands.urdf) and we set the Target Position, he totally blew up.

h1_with_hand.webm

Weird!

cyoahs commented 1 month ago

Sorry for the trouble. This issue is possibly caused by the control parameters. Free "light" end effectors can lead to unstable simulation with large stiffness and damping, as mentioned here. To stabilize simulation, please try to reduce stiffness and simulation dt, or fix the revolute joints in the hand.