Imported the URDF model myself,but the wheel will slip and spin

I imported the URDF model myself, which, like the official Carter model, is also two-wheel differential drive with a passive wheel. But whether I increase the friction, whether I increase the mass, whether I set the wheel to rubber, the wheel will slip and spin.

The velocity driver has been set when urdf is imported

Have you met this situation and how did you solve it?

It’s a duplicate issue. Can you close it?

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