Wheel motions for a mobile manipulator model

[LHTLiu]

hello,my model is mobile manipulator,as shown in the following picture.

I know that there is a planar joint type in pinocchio, but during simulation, I would like the wheels to move realistically. Should I build four wheels as rotating joints, or treat them as a whole and use plannar joints directly?

thanks

[stephane-caron]

You can set a planar joint for the mobile base and revolute joints at the wheels, then apply the wheel task from PlaCo. There is a full example in omniwheel.py that produces this behavior:

omniwheel.mp4

PlaCo builds upon Pinocchio but it is a separate project. If you have questions about it, you can ask them in the PlaCo issue tracker.