Wheels are spinning but the robot is not moving

[Zeradul]

Hello all,

I wanted to use the custom robot (urdf file) in IsaacSim from this github repository https://github.com/NovoG93/robotino/tree/main/robotino_description/urdf but unfortunately only the wheels turn and the complete robot does not move. Thanks in advance for all replies.

[Simplychenable]

@Zeradul i am just another user passing by. i don’t use a lot of Issac Sim, but there were a few other posts in the past that you could review and see if any of them would point you in the right direction (some are more recent than others, so i’ll let you decide their relevance to your issue):

I imported the URDF model myself，but wheel slip and spin

Hi @litao_bate - The issue you’re experiencing might be due to a few factors. Here are some suggestions to troubleshoot: Check the friction coefficients: Ensure that the friction coefficients of the wheels and the ground are set correctly. If the friction is too low, the wheels might slip. You can adjust the friction coefficients of the materials in the physics material properties. Check the wheel’s drive settings: Make sure the wheel’s drive settings are correct. The drive stiffness and damp…

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

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!

Imported the URDF model myself，but the wheel will slip and spin

It’s a duplicate issue. Can you close it?

Action Graph to Move Custom Robot Using ROS? How should the articulation controller be set up？

the spinning and slipping in place of what relative to what? you mean the wheel relative to the ground that should be handled by the friction coefficient on the materials in question. if you mean spinning and slipping in place of the differential axel then that’s a whole new model you need to write.

[rthaker]

Hi @Zeradul - Can you share the photos of your setting or video snippet along with the settings?, this will help us debug the issue you are facing.

Meanwhile, to use a custom robot URDF file in IsaacSim, you need to ensure that the URDF file is correctly defined and all the necessary components are included. Here are some steps you can follow:

1. Import the URDF: Use the URDF Importer in IsaacSim to import your custom robot URDF file. You can do this by going to the top menu bar and clicking on Isaac Examples > Import Robots > URDF Importer. Then, load your URDF file.
2. Check the URDF: Ensure that your URDF file includes all the necessary components for your robot to move. This includes properly defined joints, links, and controllers. If only the wheels are turning, it’s possible that the other joints or controllers are not correctly defined.
3. Configure the Drives: After importing the URDF, you might need to configure the joint drives for your robot. This can be done in the URDF Importer settings.
4. Check the Physics: Make sure that the physics are correctly set up in IsaacSim. This includes setting the correct mass, inertia, and friction for your robot’s components.
5. Control the Robot: After setting up the robot, you can control it using the IsaacSim APIs or through a custom controller.

[Zeradul]

Hi rthaker, here are some screenshots and a screen recording. 1. picture URDF Importer with configured settings. 2. and 3. picture Proerty of the robot. Screen recording the robot should move straight forward because the tow wheels are spinning with the same speed. About the urdf file, it´s working in gazebo. Many thanks in advance.

[Zeradul]

Hi @rthaker, did you find any solution?