The configuration file and the actual file name are inconsistent
the urdf file name in real_world_agilex_grasp_anything_processor.json is: "./urdf/piper_description_dualarm_new.urdf", while in "urdf" folder only "piper_description_dualarm.urdf" can be found. Is this just name mismatch?
Yes — in normal cases, piper_description_dualarm_new.urdf and piper_description_dualarm.urdf are effectively the same file, and this looks like a naming mismatch rather than a missing resource. You can safely replace the _new version with piper_description_dualarm.urdf.
That said, in the current codebase and released resources, we do not use the _new.urdf naming, so this situation shouldn’t occur by default.
Could you clarify how your real_world_agilex_grasp_anything_processor.json was generated? For example, was it exported by yourself?
One possibility is that you might not be using the latest version of the Holobrain codebase, or the processor config was generated/modified manually, which introduced the _new.urdf path.
I just downloaded this repo, and used the original "real_world_agilex_grasp_anything_processor.json". The name in this file is indeed "_new.urdf", so I wonder whether it's a mistake in this file or it's because my use error? I copied the sample code in model card and modify it to use grasp anything config. Thank you.