Could not reach the joint target velocity

Omniverse Isaac Sim
1

Isaac Sim Version

5.0.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 4090
  • Driver Version: 570.195.03

Topic Description

I have a four-wheel robot car which’s joint damping is 1e6 and stiffness is zero. Setting both front_left_wheel and rear_left_wheel joint target velocity to 151 degree/s, front_right_wheel and rear_right_wheel joint target velocity to -151 degree/s . But wheel actually could not reach the joint target velocity.

Steps to Reproduce

  1. Setting front_left_wheel and rear_left_wheel joint target velocity to 151 degree/s

  2. front_right_wheel and rear_right_wheel joint target velocity to -151 degree/s

  3. Run the simulation

  4. Click the wheel_link and observe the angular velocity whether if reach the target velocity

Screenshots or Videos

USD File

chassis_v4.zip (4.1 KB)

3

Hi, Can you give more details how to use your shared USD to reproduce the issue? I loaded it and the robot car didn’t spin as you shown in your video.
Also can you use the Asset Validator and enable JointStateChecker to valid your settings?