Hi, there, I am trying to simlulate the crawler robot, the robot file is from this link: “Is it possible to simulate a tracked robot in ISAAC Sim? - #12 by sebastian.b”. It works well, but I’ve met the problem if I enable the “articulation root” of this crawler, the model will crash at the first step. I have tried to increase the “Max Pos/Vel iteration” and “aggregate pairs” to a very large number, but in vain. I am looking forward to your kind help and reply.
Thanks,
Fuhua
@twidmer hi, twidmer, I hope this message finds you well, I am posting a question related to your work at 2023, hope could get guide from you, thanks.
Hi @suxfj2, thank you for posting your question. I took a look at the attached URDF for the tracked wheels and I am unable to get it to work in Isaac Sim 4.5.0. I think potentially this asset was created some time ago and it is not transferring correctly to 4.5.0. For instance, I don’t find prims with RigidBody properties so physics is not affecting the robot. Do you have a specific crawler robot that you want to use that you may have the URDF for? We can import it from there and I can help with you that. Or in your setup, if you are seeing articulation crash can you be more specific as to which prim you are adding articulation to?
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