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 ?
Could you please extend your question?
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.
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
Also, you can check the Isaac Sim Carter URDF Example and inspect the caster wheel configuration
Thank you. That worked.