Hi

I have a real UR3 robot.

As you know, its base coordinate system is Z-up, which the z-axis is in the upside direction (orthogonal to the earth).

I ported UR3 URDF to my isaacgym simulator and tried to sync the coordinate system with the real one,

but I couldn’t because the default coordinate system of isaacgym is Y-up system which the y-axis is in the upside direction, and I couldn’t find any build-in method to change the coordinate system.

I was able to get the aligned coordinates by multiplying a virtual quaternion, but it is a kind of some tricks that the probability of any mistakes can be increased.

Any other good method for that?