The URDF in the legged_gym

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.

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.

Do you have any suggestions? Please help me.

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

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