Abnormal orientation change when robot is rotating

Omniverse Isaac Sim
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1

Isaac Sim Version

5.1.0

Operating System

Ubuntu 24.04

GPU Information

  • Model: RTX5080
  • Driver Version: 580.95.05

Hello,

I tried to build a differential robot in Isaac Sim and make it move to the position I click on the viewport with the mouse. But I ran into a problem with the angle calculation.

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image1920×1148 261 KB

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image1402×1346 389 KB

As shown in the figure above, at around -80 degrees the robot’s orientation shows a large value jump between two ticks, with the yaw being -1.373 and -2.704 respectively.

However, from the viewport the motion appears continuous, with no obvious jumps.

quaternions for -1.373:

qx: -0.0006, qy: -0.0012, qz: 0.6137, qw: -1.0000

quaternions for -2.704:

qx: -0.0004, qy: 0.0016, qz: -1.6237, qw: 0.6159

The following formula is used to calculate yaw.

yaw = atan2(2(wz + xy), 1 − 2(y2 + z2))

This issue is 100% reproducible, and I would like to understand why it is happening.

The change in angle should be smooth and continuous.

How can I fix this?

Kind regards,

Cho

3

Hi, I would suggest check the collider settings for the wheels and try different Approximations to see if that solves your problem.