ISAAC Sim: Why is my robot moving on it's own?

Omniverse Isaac Sim
1

Isaac Sim Version

5.1.0

Operating System

Ubuntu 24.04

GPU Information

  • Model: RTX 5080
  • Driver Version: 580.95.05

Topic Description

Detailed Description

Whenever I “play” my simulation, my robot starts moving on it’s own. This only happens in the current iteration of the USD file, but I am not able to pin down what change causes this effect. My simulation uses command velocity (/cmd_vel) to move the robot, but there is nothing being published on that topic.

Steps to Reproduce

  1. Open USD file

  2. Click “play”

Screenshots or Videos

Additional Information

What I’ve Tried

  1. I’ve checked that nothing is being published on command velocity.
  2. When I flip the robot by 180 degrees, it still moves in the same direction. I.e., in the video I shared above, it moves back. When I flip it, it moves forward. This leads me to believe maybe the angle of the “floor” is tilted? I checked and made all angles about x and y axes 0. This behavior still happens.
  3. Publishing a “stopping” command on /cmd_vel doesn’t make the robot stop. But publishing a “move forward” command does suppress this stray movement.
2

@rwalia how’s the collision set up on the wheels? could you provide a debug view of the colliders?

4

Also can you use the default ground plane to see if your robot still moves?