@psh9002 Yes, you are correct that RMPflow solves the kinematics from the robot URDF. That goes for any Lula algorithm, including the LulaKinematicsSolver. We do not currently have algorithms available that natively ingest USD files to solve kinematics. In the future, we are going to build support into Lula to use USD as the only source of ground truth, but I cannot currently estimate the timeline for that project.
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