Custom Link/DOF order


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,

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