Unable to make caster wheel collision work

[ROxX]

I do not see an error in this collision format, yet the simulation opens with the front of the box on the ground, the caster below ground, and wheels working properly

[gotbordom]

I could be very off base but doesn’t the origin tag with xyz where z = -0.2 mean that the caster wheel origin will be below the ground?

Have you tried making it +0.2 ? since the radius is 0.2 ?

[ROxX]

thank you, It worked when i made it 0.0, The relationships between joint position and link visual / collision are confusing. But, I managed to get it to work

[girishkumar.kannan]

Hi @ROxX ,

Just an additional advice to you for your number notations.

Please refrain from using “.2” when specifying values. We as humans can deduce “.2” as 0.2. But usual shorthand notations usually are bad when making configuration or description files.

So for a computer, “.2” will make no sense. Please use 0.2 or “0.x” to denote a zero decimal number from now on.

“It works” is different from “straying away from conventions”. Please follow good practices!

Regards,
Girish