A little strange about the joint axis settings in the urdf file

[shuaikangma]

I try to use legged_examples/legged_hunter/legged_hunter_description/urdf/hunter.urdf in isaacgym for rl training;
When I set the same initial pos for the left and right leg by hand, I found the angle is a little strange;
The pos of left leg joint 3,4,5, are 0.3, 0.6, 0.3, while the pos of the right joint 3,4,5, are -0.3, 0.6, 0.3;
This less intuitive setting caused my training to fail many times;
Can someone re export the URDF so that all pitch axis directions are along the positive y-axis of the right-hand coordinate system?

[Sher1ockFan]

Just change the sign of the axis tag in the URDF to get what you want.