Cannot import URDF into Gym

I am trying to import a self-designed robot into isaac gym but it does not work properly, as shown in the following figure.

image

All the parts are in wrong position, and the code I am using the following code:


asset_root = os.path.join(os.path.dirname(os.path.abspath(file)), ‘…/…/assets’)
LogBot_asset_file = “logbot/urdf/robotModelSimplified.urdf”

robot_asset_options = gymapi.AssetOptions()
robot_asset_options.default_dof_drive_mode = gymapi.DOF_MODE_NONE
robot_asset_options.collapse_fixed_joints = True
robot_asset_options.replace_cylinder_with_capsule = True
robot_asset_options.flip_visual_attachments = True
robot_asset_options.fix_base_link = self.cfg[“env”][“urdfAsset”][“fixBaseLink”]
robot_asset_options.density = 0.001
robot_asset_options.angular_damping = 0.0
robot_asset_options.linear_damping = 0.0
robot_asset_options.armature = 0.0
robot_asset_options.thickness = 0.01
robot_asset_options.disable_gravity = False

LogBot_asset = self.gym.load_asset(self.sim, asset_root, LogBot_asset_file, robot_asset_options)
logbot_handle = self.gym.create_actor(env_ptr, LogBot_asset, start_pose, “logbot”, i, 1, 0)


At the same time, I am sure the urdf is good by using “Isaac Utils-Workflows-URDF import”. It looks like the following:
image

I am very confused about it and many thanks in advances!

Yours sincerely,
Jianlin

1 Like