[Mike Hawk]

I tried adding forces to the design but it would be much easier if the wheels interact properly with the floor.

if i add forces i can only move in one direction (the one of the forces) and then the wheels dont really matter because i'm actually pushing the robot in that direction instead of letting the wheels do the work

Doesnt it has anything to do with the friction between the ground and the wheels? i made my mecanum wheels as perfect as i could (no bumping when going forward) so i dont think it has to do with my design

M