My usd_model cannot move normally after importing my URDF model into USD

Omniverse Isaac Sim
1

Note: For any Isaac Lab topics, please submit your topic to its GitHub repo (GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim) following the instructions provided on Isaac Lab’s Contributing Guidelines (Contribution Guidelines — Isaac Lab Documentation).

Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed.

Isaac Sim Version

4.5.0
[√] 4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
[√] Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA GeForce RTX 4090D
  • Driver Version:

Topic Description

Detailed Description

(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)
I imported my URDF into a USD model. When I set a joint position target within the limit using set_joint_position_target, for example, 0.2, it would move rapidly and then fall apart. However, this USD model can run normally under the Gain-tuner test in IsaacSim.

Steps to Reproduce

my_model (2).zip (16.0 MB)

  1. inspire_hand_left_usd is my usd,
    inspire_hand_urdf is my raw urdf，
    test_run_articulation.py is my test python file
    inspire is my cfg
  2. After running test_run_articulation.py , the situation I mentioned will occur
    (Add more steps as needed)

Error Messages

(If applicable, copy and paste any error messages you received)
In my_model.zip,thanks

Screenshots or Videos

(If applicable, add screenshots or links to videos that demonstrate the issue)

Additional Information

What I’ve Tried

(Describe any troubleshooting steps you’ve already taken)

I have tried replacing the usd_path in cfg with allegro’hand and shadowhand from the official sample separately, but my own conversion of urdf does not work properly

Related Issues

(If you’re aware of any related issues or forum posts, please link them here)

Additional Context

(Add any other context about the problem here)
This problem has been bothering me for a long time, and I am very grateful that you can solve it for me！！