Usage Consideration

IsaacGym

The URDF provided in DexSuite utilizes either .obj or .glb files (for glb version URDF). To ensure proper functioning, it's crucial to set flip_visual_attachment=False. This tag modifies the up and forward axis as established in the mesh file, typically a .dae file. For our URDF model, this is unnecessary and enabling it could result in wrong mesh parsing behavior.

from isaacgym import gymapi

asset_option = gymapi.AssetOptions()
asset_option.flip_visual_attachments = False