As you may see from this pic
base_link: is the car frame in light blue tire_frame: is the black item front_tire: is the while tire
As you may see, the base_link connects to the tire_frame via a continuous joint and the tire_frame connects to the white tire via another continuous joint.
The ModelVisualizer claims I have two contact forces between the white tires at front and the base_link as shown in two Green lines.
Can people please advise how am I suppose to debug this further? Please feel free to ask if I am not providing enough information for further assistance.
I tried to make the ModelVisualizer renders the proximity models, aka the collision geometry. As you may observed, there is no collision point at all between base_link and the white_front_tire.
I fixed it by slightly change the base_link model, maybe the actual collision geometry isn't the one showing in "proximity"
