Issiues with friction of wheels in isaac gym

Hi everyone,

I’m currently working on a bike simulation in Isaac Gym. One of the key elements to accurately simulate a bike is the curvature of the wheels. Right now, I’m hitting a roadblock. As far as I know, I can’t use triangle meshes like .stl or .dae directly as collision mesh objects without using Flex or issac automoatically doing convex decomposition which does not make a round wheel.

My workaround has been to use a default cylinder from URDF as the wheel. But it’s not exactly round, and because I need to make it really thin to prevent the bike from balancing on its own, I’m running into friction issues. This results in the wheels sliding around, not driving the bike as expected.

Does anyone have a solution for the wheel mesh problem, or a way to manage the friction issue? Your suggestions would be much appreciated. Thanks!