Robot sliding:wheel has been spinning, but the robot not move,the wheel continue sliding

Omniverse Isaac Sim
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i imported a robot from urdf, and attach RosJoinState， i pub velocity to the wheel joint by python scripts, and the wheel has been revoluting, but sliding, the robot not move ? what should i fix it??

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here is the video, thanks

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i have done it ! when i import a urdf , there was a new joint named fixed joint to fix the imported robot on the world, so the robot not move ! when i delete it , it works ! thanks!

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Excellent! Thanks for sharing your findings with us. We will use this experience to improve the documentation.