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This is part of the weekly Isaac Sim / Robotics livestream series that you can add to your calendar here: https://www.addevent.com/event/jQ1666...
In this episode, NVIDIA's Avi Rudich covers: Bringing a new robot to Isaac Sim, starting with its URDF file. https://docs.omniverse.nvidia.com/app...
Configuring the new robot to use our "Motion Generation" stack:
1) Creating a Robot Description File https://docs.omniverse.nvidia.com/app...
2) Configuring RMPflow https://docs.omniverse.nvidia.com/app...
Writing a standalone extension from scratch using Isaac Sim Extension Templates https://docs.omniverse.nvidia.com/app...
NOTE: The issue Avi encountered in this stream at 14:30 with paths ended up being a very simple fix. In the file name he was trying to import, there was the word "issac" and he typed the name as "isaac". I got the path to the file right, but when I typed the file name I didn't notice the misspelling.