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Hello, I have a question and would like to leave a comment.I converted a two-wheel robot from SolidWorks to URDF, then loaded it into Isaac Sim and converted it to USD for use in Isaac Lab. I attempted to control the wheel speed and set a maximum speed of 6.3 rad/s (also setting the scale to 6.3).
However, in Isaac Lab, the wheel speed exceeds 40 rad/s, which is much higher than the intended limit. Even when I set the maximum speed and scale to 0.1, the same issue occurs.
For actuation, I used a PD controller, with a minimum delay rate of 0 ms and a maximum delay rate of 4 ms. Since this is velocity control, I set stiffness to 0 and damping to 0.3.
If you have any insights into this issue, I would greatly appreciate your help. Thank you.
I am using Isaac Sim version 4.5.0.