[Bug Report] The joint in usd (generated from urdf converter) fail to move normally

Omniverse Isaac Sim
,
1

I am trying to create a MANO hand USD file that I can import and use in Isaac Lab.

The reference URDF file I am using is from https://github.com/zdchan/GraspXL/blob/main/rsc/mano_double/rhand_mano_low_mass.urdf

I have modified the file by changing all links with zero mass to a mass of 0.001 and setting zero inertia to .

  • The joints of this urdf can be moved in isaacsim using physic interpreter

    Image

  • Also the joints of this same urdf file can be controlled in isaacgym.

  • However, when I use the USD converted from the same URDF, I am unable to move the joints using write_joint_state_to_sim to set their positions.

Any help would be greatly appreciated!

Thanks a lot!

3

Since this is Isaac Lab related and you already have an issue tracked in 3490, I am going to close this one and let’s track the status there.