Robot floating away, while continually assigning transform coords to its base

For my project I got tracking cameras, which track the base link of my kuka iiwa robotic arm.
Assigning the transmitted coords to the robot GameObject causes the robot to float and rotate away, instead of staying at its current location.
This doesn't happen, if I'm using the immovable obj of the robot instead of the urdf imported Articulation Body.
Haven't worked with Articulation Bodies before, but presumably it happens because of the attatched urdf/kinematic scripts.

Is there an easy way to prevent the robot from floating away??

 

Ok, so actually the problem isn't related to the transmitting of coordinates, more to the Articulation Body itself:

Setting the base-link Articulation Body to immovable prevents me to set any coordinates in playmode. But as soon as I deactivate it the robot flies away, even without setting/updating any transform coords.

Is this due to the old URDF Importer (0.1.2) I'm using or should is there anything I missed out using Articulation Bodies?

 

Ok i found it out myself:
If you're trying to move an Articulation Body, use the ab.TeleportRoot() function.

Has already been explained here, with the request to ask next time in this forum:
https://githubmemory.com/repo/Unity-Technologies/articulations-robot-demo/issues/39