How to simulate a robot with caster wheels

Hi, all,

I am trying to simulate a mir_100 robot in isaac sim, but I met some problems.

mir_100 is a differential drive robot with four caster wheels to keep balance. I can make it running with omnigraph successfully, but it failed with python script. I found that it is because “get_articulation_controller()” function get pd controller for all joints including driving wheels and caster wheels. If I only send command to driving wheels, then other caster wheels will stop running, the robot will stay in place. How could I solve this? Thanks