Importing URDF for RB-KAIROS

[sesem738]

I want to train a reach task with with RB-Kairos holonomic mobile manipulator, but I’m experiencing issues importing it into Isaac Sim 4.5. After acquiring the URDF from the official GitHub repository, I imported it into Isaac Sim using the following settings: movable base, acceleration drive type, and self-collision enabled.

However, when I press play, the robot immediately becomes unstable and flies off. I’ve attached a video demonstrating this behavior along with the URDF file I’m using.

When I disable self-collision, it is more stable, but then the links pass through themselves. Any suggestions on how to improve this?

KAIROS.URDF.TEST.webm

[RandomOakForest]

Thanks for posting this. Could you try creating a physics scene before adding the robot and try again? Alternatively, the robot's original URDF may need some work. If you could validate the robot original asset using another tool could shed some light on this.