I want to use the custom mobile robot arm I assembled in Isaac sim for reinforcement learning in Orbit. I saw that the imported robot arm and mobile robot arm in Orbit use omni.isaac.orbit.robots.config in Orbit. Franka is a library like this, so how can I import my own customized robot? Can the core API in Isaac sim be directly imported and used in Orbit?
Yes, you can use Isaac Sim tools for importing the URDF of the robot and converting that into USD. Once that is done, you will need to create a configuration object similar to how it is done for Franka and other robots.
After that, you can replace the reference to the robot config object in the environments with your config object.