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I think you can try increasing your friction of wheel or the world surface.. by making

  <mu1>100.0</mu1>
  <mu2>50.0</mu2>

I think you will see the effect. It seems your wheels moving but not making enough friction to move but rather slipping.

I think you can try increasing your friction of wheel or the world surface.. by making

  <mu1>100.0</mu1>
  <mu2>50.0</mu2>

I think you will see the effect. It seems your wheels moving but not making enough friction to move but rather slipping.