How to fix the URDF error?

Omniverse Isaac Sim
1

Hi, I’m trying to interact with an articulation imported by URDF Importer.

As the video shows, everything was fine at first, but when the step of setting Target Position was slightly increased, it blew up.

According to the guide, it seems to be a self-collision problem, but I have no idea how to fix it.

Is there something wrong with the URDF file or my configuration?

The URDF I used: h1_inspire.urdf

2

Are there any specific error messages or warnings displayed when the instability occurs? Also, please try adjusting some of the import options mentioned in the documentation (URDF Importer — Omniverse IsaacSim latest documentation).