First of all let me thank the developers of Isaac Gym - they have put enormous amount of time and efforts into making it and the possibilities it provides are amazing.
I have successfully installed Isaac Gym and run the examples. However when I tried to change joint_monkey.py example to import my URDF, I ran into two issues:
- Segmentation fault at this line
actor_handle = gym.create_actor(env, asset, pose, “actor”, i, 1)
- Wrong number of DOF - as you can see in above screenshot, right_front_arm_j joint is repeated twice, same as with left_back_arm_j joint. Interestingly enough, right_back_arm_j and left_front_arm_j do not seem to appear twice. I checked my URDF and absolutely sure these is only one of each joints.
Here is zip archive with meshes, URDF file and my modified example file. Please let me know if there is more information I can provide!