How to fix the URDF error?

Omniverse Isaac Sim
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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

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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).

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Yes, I noticed the warning messages in the picture

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pic1316×256 219 KB

and I found that the instability was caused by the robot’s fingers besides the thumb.

How can I set the Target Position of these fingers without the instability?

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Have you solved this problem? I’ve encountered a similar one.

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This is an old post, but the issues on self-collision after URDF import have been fixed in Isaac Sim 4.5.0 as shown in the video below using the H1 inspire asset:

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  1. Update to Isaac Sim 4.5.0 or Later
    This version includes specific fixes for self-collision issues after URDF import.
  2. Disable Self-Collisions for Problematic Links
    Modify your URDF to turn off self-collision for parts like fingers, which often cause instability due to overlapping collisions.
  3. Review and Correct Collision Geometry in URDF
    Ensure that all collision meshes are accurate, non-overlapping, and properly scaled, especially for moving parts. Use simpler collision shapes where possible.
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