Differential Drive Mobile Robot Wheel Friction Issues

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MIR100 robot has been implemented

The PhysicsMaterial is not configured with any properties

  • In ROS2 RViz, the rotation is 90 degrees, but in Isaac Sim, it only rotates about 10 degrees.

This video shows the effect of applying friction values only to the caster wheel.

  • The rotation is almost identical in the video with the friction values set for both the caster wheel and the main wheel

This photo shows the friction value for the caster wheel.

  • Dynamic Friction : 0.0
  • Static Friction : 0.0
  • Restitulation : 0.0
  • Friction Combine Mode : min
  • Restitulation : min

This video shows the effect of applying friction values to both the caster wheel and the main wheel.

This photo shows the friction value for the wheel.

  • Dynamic Friction : 0.6
  • Static Friction : 0.5
  • Restitulation : 0.0
  • Friction Combine Mode : average
  • Restitulation : average

This video shows an experiment conducted in the Webots simulator using values applied to the robot wheels in Isaac Sim

  • In the Webots simulator, the rotation matches the behavior observed in ROS2 RViz.

I would like to implement a Differential Drive Mobile Robot in Isaac Sim simulator, similar to the Webots simulator video.

I am seeking advice on friction issues.

Thank you.

It seems I can only upload one video

Hard to comment since the video seems broken, but are the stiffness and damping of the caster joints set to 0? If not, there will be extra resistance from the caster.

We can’t provide advice on project implementations. Please see if the documentation provides help for your task. Then if something is an issue regarding friction parameters, please post it as a new topic. Thanks.

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