How to add the revolute joint between 2-Wheel Robot and additional Mesh on IsaacSim4.2

[mat-h]

Hello,

I’d like to add a joint(revolute joint) to 2-wheel Robot with ActionGraph for adding a cargo Model.
So I try to add a joint to AGV(Transporter) by using “Created Cube Mesh” for test like below.

But the Transporter don’t run by using teleop-keybaord.
(GitHub - ros2/teleop_twist_keyboard: Generic Keyboard Teleop for ROS)

I also found Warning like below.

After that,
If I deactivate “BOX1”, then transporter run properly by using teleop-keybaord

I also attach my Project(I found same behavior in this usd file).
Collected_car_test_ag.zip (9.5 KB)

I’d appreciate if you check the behavior and tell us how to solve this problem.

–
Best regards

[mat-h]

Hello,

Are there any update on this?
I would appreciate if you tell us how to solve this problem.

Best regards,

[qwan]

Can you update to the latest IsaacSim 4.5, I wasn’t able to repro the issue.

although looking at your asset, you might want to add a mass API (Property panel, Add button, Physics->Mass) to both the Robot and the cargo, it seems a bit imbalanced and the wheels are not all touching the ground. and also maybe a friction material to your wheels.

[mat-h]

Hi,

Thank you very much for your kindness.
I really appreciate your help.

I’d like to continue to check the behavior with your guide.

Best regards,