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I'm having trouble with building and simulating a rear wheel drive URDF car. I'm modifying the racecar model in pybullet_data. Changing the rear wheel joint velocity doesn't change the velocity of the front wheel joints, and as a result, the car barely moves. Is there a way to modify the URDF file to allow for the front joints to roll based on torque indirectly applied to them (by friction from the plane)? Thanks!