Robot motion is bumpy and bouncy

[hemil.k]

isaac sim version - 4.2.0

I am trying to run this four-wheel robot in Isaac and trying to perform the dynamics simulation. The robot motions seems to bouncy and bumpy for no reasons. The masses of everything is correct and I tried different collider settings as recommended in various other similar questions. I am also attaching the image of collision mesh for reference, in this I tried convex hull also, I tried contact offset, rest offset to be autocomputed (default).

Can someone list out exact things needs to there for a proper sim, so that I can debug and solve the issue? I am attaching the video of it. I would not be able to share more information like usds etc…

[Richard3D]

Yes this is because you are using a mesh as your collider, and that mesh is very faceted. It is not perfectly smooth, and those minor face imperfections are throwing off your physics. Please make your contact surface much smoother with higher fidelity and no faceting. If you wish, you can create a high quality cylinder with maximum detail, or you can use our “shapes” which are designed to be perfect for physics colliders.