Importing Allegro Right Hand URDF

Omniverse Isaac Sim
1

Hi I’m trying to import a URDF file (from here) using a python script using the following lines of code:

from omni.isaac.urdf.scripts.samples.common import import_robot
from omni.isaac.urdf import _urdf

urdf_interface = _urdf.acquire_urdf_interface()
import_config = _urdf.ImportConfig()
path = './allegro_hand_ros/allegro_hand_description/allegro_hand_description_right.urdf'
import_robot(urdf_interface, path, import_config, relative=True)

But I’m getting the following error… how do I go about debugging this? And is what I am trying to do possible?

path = urdf_interface.import_robot(root_path, filename, imported_robot, import_config)
IndexError: map::at
Exiting OmniKitHelper

2

@ss14499 sorry about this, the bug is fixed for our next release. But I don’t have a workaround for the current release at the moment.

3

Great to hear! Thanks for getting back to me. Do you have a rough estimate of when the next release will be?

4

Early June, going through feature freeze and QA currently.

5

The IsaacGymEnvs repository already has an implementation of AllegroHand that might be of help.