Hi everyone,
Recently, I encountered the same problem as illustrated in the issue using-isaacgym-to-simulate-differential-drive-of-a-four-wheel-robot. Here, the angular velocity is always not controlled as expected. Besides, I printed out the dof velocity during rotation and the value aligned with the angular velocity I set, thus there must be some unexpected sliding between the wheels and the ground. But I couldn’t fix it.
I have contacted the author of this issue but he didn’t make any progress yet. As the issue was proposed two years ago, I didn’t see any official response so far.
Could any engineer from NVIDIA official follow up on this old issue? Appreciate it!
By the way, It seems that the tutorial of simulating complex robotic system like the manipulators in IsaacGym is complete, but for the simpler wheeled robots, few documents can be found :)