Inverse Kinematics controller for Franka Panda attached to a mobile platform

[LuisRodriguezRuiz]

Hi. I built a robot on Isaac Sim that has a mobile platform and a Franka Panda arm. The arm is attached to the mobile platform by a fixed joint. The thing is that when I try to use the IK controller for the arm it does not work well (the joint positions are not correct given the target position sent to the IK controller). It seems that the issue is caused by the fixed joint because If I remove it the IK controller works well. I also tried the RidgebackFranka robot available in nvidia assets but it does not work either. Does anyone know what can be caussing the issue?

Thanks.

[RandomOakForest]

Thank you for posting this. The team is aware of some of the issues with the fixed joint approach to attaching assets. Have you tried the robot assembler? This route may provide a workaround in your case.