Request for Tutorial on Replacing Robot Models (openarm/ur7e) in Isaac Sim – Issues with Physics Collisions and Negative Infinity Z-Coordinate

[hejianhua454]

Summary
Executing the pre-built tasks in the repository works fine and can produce data. Now I want to replace the robot model with my own, but I always encounter physical collisions and the problem of the robot's Z coordinate becoming negative infinity. The robots I plan to replace are the openarm and ur7e. I would like a tutorial or the requirements for generating USD files from URDF.