Mobile robot control with Prismatic and revolute joint


I am trying to control my mobile robot with only prismatic and revolute joint. (Because the urdf of mobile robot has no wheel information)

I added [rotate] (with RevoluteJoint) and [prismatic] (with PrismaticJoint) prim in my robot model.

The linear movement works well, but the rotation works only when the initial position like the video below.

Mobile robot always rotates around the origin point.

I guess that the issue is caused by the fixed [rotate] prim after controlling ‘Target Velocity’ of PrismaticJoint.

Can you give me some idea to solve this problem !

Thank you !

Hello! See video below for Explanation:

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