How to load URDF into Isaac Gym

I am very new to this. Could I please know if there is any tutorial on how to load URDF into Isaac Gym? I looked at the examples provided, they are kinda complicated to me. Thank you.

Your best starting point is probably the example. You can see in there how the cartpole URDF is loaded and how to control the DOFs.

I’m afraid that we don’t have a step-by-step tutorial at the moment.

Take care,

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Thank you! That example is very helpful!