Issac Sim Moving Robot

Hi. I am trying to move my robot in the Isaac Sim. Due to some reason, the wheel structure of my robot is a bit strange. I don’t think I can find a proper driver (and designing one takes a lot of time and effort).
May I know if there is a way to send the high-level command, such as angular and linear velocity, to my robot without knowing which driver should I use (or maybe skip the driver part and directly make the whole body of the robot move)?

Hi @berternats , can you provide some more information like what tutorial or example are you trying to do and snippets of issues in order to help you resolve the issue?

In addition, you can look at this post which might help how to set angular and linear velocity: Conveyor velocity units