Fail to load Custom URDF

Omniverse Isaac Sim
1

Hi,

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:

image
image1513×879 107 KB

What would be causing this?

The urdf and mesh files are available here.

Thanks.

2

Hi

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.

allegro
allegro1284×758 106 KB

3

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