Unable to import my own robot usd file into an existing direct RL environment (AntEnv)

[zzhang99]

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Isaac Sim Version

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

Operating System

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

GPU Information

• Model: RTX 4090
• Driver Version: NVIDIA driver 535.216.03

Topic Description

Detailed Description

Hi all, I’m following the tutorial “Modifying the existing direct RL environment” to modify the code of the Ant project. I’m loading and configuring my own robot usd file following the code of “franka_cabinet”.

The robot usd file and my code can be accessed through this LINK.

The problem I’m facing is that after running the training command, the system reports an error. A screenshot is below.

I think it may be that the robot actuators and joint_gears are written incorrectly in my code. Could you please tell me how to modify my code, or should I follow the code for other projects?

Thank you very much!

Steps to Reproduce

1. Download my code and USD file from the Google Drive link.
2. Modify “usd_path” to your own path.
3. Run ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task hexabot --headless

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