About G2/robot_fix.usda

[li-zhuoyuan]

Hello, I use the model genie-G2 G2/robot_fix.usda in the open source GenieSimAssets. And I found that the robot''s chassis isn't affected by gravity even I used "disable_gravity = False" in IsaacSim.
The body and the arms can be affected by the gravity, so I guess maybe it's caused by model.
Thank you.
The simulation result is like this

.

[MiaoMieu]

In robot_fix.usda, we add a fix joint to the base_link, so the base can't move. If you DO NEED to move the base, you can disbale that joint or try robot.usda

[li-zhuoyuan]

Got it. Thank you very much for your reply.