Importing customized URDF file (Nan value for all joints)

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hi there,
I am trying to import the customized URDF file and found the following issue.

  1. When I turned off the following two lines in ‘While loop’, I can see my customized URDF file on the Isaacgym simulation. (All links are connected properly) But all joints become ‘Nan’ and all links were disappearing if both lines turned on.
    gym.simulate(sim)
    gym.fetch_results(sim, True)

  2. If I use ‘xml’ file instead of using ‘urdf’, the quality of mesh files become so bad. I was using the exactly same stl files that I used in the urdf.

Hopefully, your comments would help me to solve these issues.
Thanks!

2

I got it. This is because I didn’t set limit of joints in my URDF file.

3

Hi, I’ve just met the same issue to yours in Isaac Sim and I think they are the same type.
Is your fix means the limits of upper, lower position, velocity and effort ?

5

Velocity and effort need to be set.