TL;DR Is it possible to declare different joint drive types for different links in the same robot model?
I’ve successfully loaded the TurtleBot3 with OpenManipulator into Isaac Sim via URDF Importer.
I also added
ROS_DifferentialBase and connected them to the model as shown in the pictures below. They seem to work on their own as described beneath the pictures.
To the problem: when I’m using Joint Drive Type
Position in the Parser Settings of the URDF Importer, I can control the OpenManipulator via
ROS_JointState, but not the
ROS_DifferentialBase module connected to the waffle_pi-base of the TurtleBot3. The same problem occurs, vice versa, when I’m selecting
Velocity for the “Joint Drive Type”.
I tried to solve the problem by changing
Damping Parameters in the
Raw USD Properties of the single links according to the information in Robot Properties - URDF Importer Documentation . This does not work as expected. Is there another way to set different Joint Drive Types?