How to create URDF


I built a SCARA arm directly in Isaac Sim and now want to control it with RMPFlow. For that I need a URDF file. Is there a way to generate one automatically from an articulation? If not, what’s the easiest way for me to proceed? I’d rather not install/learn ROS, which seems to be where the URDFs usually come from.



Hi @dan.sandberg - If you can wait for few days then in our upcoming release, you can use USD to URDF converter extension to get the URDF file directly.

That’s great, thanks!