How to use tehe RMPFolow without using URDF file

Is there any way to use RMPFollow without using URDF file? I want to use this with my current USD and articulation.

same issue here

I don’t think so. In the URDF file all the meshes and joints positions and limits are defined. RMPflow use it to calculate the kinematics of the robot and relate them to the usd model.