Hi!
I have noticed that, when loading an asset from urdf, the simulator sorts the child links and corresponding dofs from the same parent in alphabetical order.
A simple example to show what I mean:
parent trunk → {link: head, link: right_arm, link: left_arm, link: right_leg, link: left_leg} is switched to
parent trunk → {link: head, link: left_arm, link: left_leg, link: right_arm, link: right_leg}
This mixes up the order in which controller actions are linked to certain actuators.
For transferability from a learned controller in Isaac gym to my real robots I would like to keep the same order as specified in the urdf file.
Is it possible to force this in the asset options?
Thank you,
Fuda