Controlling the wheels of a robot in Isaac Sim 4.5

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

Topic Description

Detailed Description

I am trying to move a robot in Isaac sim. It is quite similar to a forklift. I am able to control the lifts but I am not able to move the robot. Can someone help me to configure/ control it.

Steps to Reproduce

  1. I can see the wheel rotate one and only if I change the position inside the joint state property of the joint(drive_joint in this case) in the property panel of the joint.
  2. Nothing happens when I change the values inside drive angular position or velocity.
  3. I was thinking that the robot would move if I’m able to control/ move the wheel.

I have attached the file for reference.
Robot.zip (10.8 MB)

2

Have you checked out this tutorial ROS 2 Ackermann Controller — Isaac Sim Documentation

4

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