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 dof_controls.py 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,
-Gav

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Thank you! That example is very helpful!