Describe the feature you want
First, thank you to everyone who has contributed to the OpenArm project — the effort put into it is genuinely appreciated.
Context
While the project currently ships USD assets which work well for basic simulation, several important Isaac Sim features depend on a URDF being available:
- RMPFlow / Lula Motion Generation — these controllers require a URDF to compute motion plans and cannot rely solely on a damped least-squares IK solver.
- Imitation learning workflows — many open-source IK solvers use URDF and the teleoperation rely heavily on these IK solvers.
Question / Request
Do the developers have plans to release an official URDF for OpenArm for Isaac Sim/ Isaac Lab? Or, if the USD was originally prepared by importing from a URDF, would it be possible to share that source URDF or document the conversion pipeline used?
Having a canonical, project-maintained URDF would prevent every user from having to reverse-engineer or recreate one independently, and would lower the barrier to using OpenArm in Isaac Sim/ Isaac Lab
Thanks again for the great work!
Describe the feature you want
First, thank you to everyone who has contributed to the OpenArm project — the effort put into it is genuinely appreciated.
Context
While the project currently ships USD assets which work well for basic simulation, several important Isaac Sim features depend on a URDF being available:
Question / Request
Do the developers have plans to release an official URDF for OpenArm for Isaac Sim/ Isaac Lab? Or, if the USD was originally prepared by importing from a URDF, would it be possible to share that source URDF or document the conversion pipeline used?
Having a canonical, project-maintained URDF would prevent every user from having to reverse-engineer or recreate one independently, and would lower the barrier to using OpenArm in Isaac Sim/ Isaac Lab
Thanks again for the great work!