Fail to load Custom URDF


I am trying to load a custom URDF by using the URDF importer. However, the importer cannot correctly parse the urdf, and it does not give too many informative error message other than [Error] [omni.isaac.urdf] *** URDF robot is empty.

It seems to only recognize one link in the urdf file:

What would be causing this?

The urdf and mesh files are available here.



The problem seems to be the name of the links and joints in the urdf description because they contain <.>
I renamed those names replacing . by _ and everything work.

I see. I didn’t notice that. Thanks a lot!