Omnigraph Differential Controller: Wrong Order of the Left and the Right Wheels

[Q-Y-Yang]

Description

In order to control my differential base of the mobile robot, I created an action graph including a ArticulationController and a DifferentialController following the tutorial. Next, I defined the ArrayNames for the wheels (input to the Joint Names of the ArticulationController) following this.

Issue: However, my robot can't reach the navigation goal and keeps rotating. After checking a lot of things, I finally found out that the command for the right wheel was actuated on the left wheel and the command for the left wheel was actuated on the right wheel.

Solution: For the Joint Names I switched the order of the wheels (correct: the wheel_left_joint before the wheel_right_joint).
My corrected configuration:

I am posting my problem here because I did not find the correct information about the wheels definition for the controller. And I spent a lot of time tracking down the issue. I hope other researchers in the community won't waste time on this anymore.

Isaac Sim version

5.1.0

Operating System (OS)

Ubuntu 24.04

GPU Name

unkown

GPU Driver and CUDA versions

Driver 580.82.07 , CUDA 13.0

Logs

No response

Additional information

No response

[zwdoescode]

Hi @Q-Y-Yang thanks for raising up this issue! I will let the internal team know.

Internal ticket: 6254111