Can't import custom URDF to IsaacGym

Robotics & Edge Computing Robotics - Isaac Isaac Gym
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Hi everyone,

I’m trying to import a custom robot in IsaacGym with a python script but the robot doesn’t show up (an empty world):

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11599×940 177 KB

However, before that, I imported it successfully in IsaacSim with the URDF importer:

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01538×898 103 KB

Thus, maybe there are something wrong with my importing script. But then I import another URDF file — kuka_allegro.urdf provided by isaacgym with the same script and it shows up correctly:

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21603×940 204 KB

The link below is the zip file which contains my custom model including the meshes and URDF and the importing script:
urdf_import.zip
Here, I want to import ranger_mini_v2_xarm6_allegro.urdf under urdf/ranegr_mini_v2 to IsaacGym.

Any advice to import my custom robot in IsaacGym?