Hi @juliank
We’re glad you’re excited about Isaac Gym!
Please have a look through the docs/programming/graphics.html area of the documentation. Specifically:
Texture coordinates are loaded with the mesh when the asset is created. If a mesh does not contain any texture coordinates, they are generated using a spherical projection at the time the asset is loaded.
Both MJCF and URDF formats should allow you to provide a mesh with your own texture coordinates if you don’t want to use the default wrapping.
Take care,
-Gav