My robot doesn't move like real in gym environment, what parameters should I change?

Hi everyone ı make a urdf fo rmy rover and try drive with velocity command in isaac gym, but it doesn’t move like the real thing, it does flips, jumps and can’t go straight ahead, there are deviations
there is a sample video thanks everyone

when ı increase the mass roll flip problem is fixed but for example when ı add the mecanum wheel rover cant do that well, which parameter settings we could edit?

It can dance though! :)
I’m guessing it’s because you haven’t defined the friction between wheels and environment well, and you might be applying too much torque to the wheels as well, Kp in you PD controller is high.