The URDF in the legged_gym

Autonomous Machines Robotics - Isaac Isaac Gym
1

I met some problems about the URDF in the legged_gym. If i used my robot’s urdf in the Isaac gym just like the example (dof_control), it looks very nice.

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S7C852@AVV6_)BJKZOCP955×657 105 KB

But if i used it in the legged_gym to train it, the robot become a mess. The relationship between joints and links are completely wrong.

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8%7IA0S%(ZUR$HJ)O%TSWWN968×545 38.3 KB

Do you have any suggestions? Please help me.

2

Have you tried toggling the flip_visual_attachments param in your config file between True and False?

3

Yes sir, I have noticed this param and solved the problem.Thanks