Could you provide the UR10e assets corresponding to Sapien?

[Charlie0257]

Could you provide the UR10e assets corresponding to Sapien?

[yzqin]

The problem lies in the dae mesh model loaded in IsaacGym, such as your UR10e. It is enabled with a specific tag, flip_visual_attachments=True. This tag alters the definition of the up and forward axis as defined in the dae mesh. It only functions when flip_visual_attachments=True is set in IsaacGym. If this tag is set to False, it will cause problems.

Also this problem will happen only if the mesh file is stored as dae file. obj and stl will not have such issue..

asset_options = gymapi.AssetOptions()
asset_options.flip_visual_attachments = True

For other simulators like SAPIEN and PyBullet, they adhere to the original mesh, causing the mesh to break up.

We plan to rectify the model at the mesh level and soon make the UR10e + Shadow version publicly available in this repository.

[Charlie0257]

Thanks for your answer:)

I am looking forward to these models!

[yzqin]

See ur10e model for more details, which is added in 24162c8

[Charlie0257]

@yzqin Thanks for providing the assets! I will close this issue.
Hope to keep in touch:)