Hello All,
I am playing around with the “Carter” robot. The caster wheels do not move. Why is that ?
Is there some joint property that needs to be set ?
Hi @quark01
Could you please extend your question?
Hello Toni,
I am uploading two screen shots one with Gazebo and one with Isaac Sim.
Note the physics of the caster wheel in Gazebo. I was expecting the same in Isaac sim.
They are the same URDF.
Hi @quark01
Importing a robot via the Isaac Utils > Workflows > URDF Importer extension will configure drivers for all prismatic and revolute joints (unless None is selected in the Joint Drive Type field).
Normally, caster wheels use drive-less joints.
Then, go to the caster’s joints and delete the Drive property
Example:
Also, you can check the Isaac Sim Carter URDF Example and inspect the caster wheel configuration
1 Like
Thank you. That worked.
Sandeep
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