Request for TM5-700 and TM5-900 USD Files for Isaac Sim Simulation

[dannydannywsx]

Dear Techman Robot team,

Thank you for sharing the tm_ros2_isaac_example project. It has been very helpful in integrating TM robots into Isaac Sim using ROS 2.

I am currently working on simulating the TM5-700 and TM5-900 robotic arms in Isaac Sim. However, I noticed that the assets folder in this repository does not contain the USD files for these two models.

May I ask if the USD files for TM5-700 and TM5-900 are available? If so, could you kindly provide them or let me know how I could obtain them?

Thank you for your time and support!

[TechmanRobotIncOwner]

Hi,

If the USD file for that model isn't in the assets yet, you can refer to the Isaac Sim documentation about URDF importer. Our USD files are all converted from tm_description.
Creating the Robot USD file from URDF

commenting out URDF material setting before import:
<material name="none">
<!--<color rgba="0.0 0.0 0.0 1.0"/>-->

[dannydannywsx]

Thank you for your response. I am currently using Isaac Sim version 4.5.0 to import the TM5-700 URDF. However, the entire robot model does not show any colors or textures after importing.

Here is the URDF:
tm5_700.urdf.txt

And I received the following warning message:
2025-07-03 08:50:30 [38,299ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /tm5_700/link_5/visuals.proto_mesh_id0 that has not been populated

Is there any way to make the URDF display textures like the assets provided in the default Isaac Sim asset library?

[TechmanRobotIncOwner]

Hi, dannydannywsx sir,

1. Isaac Sim Requirements: System Requirements for your reference:
   https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html
   https://docs.isaacsim.omniverse.nvidia.com/4.2.0/installation/requirements.html

2. Your TM5-700 URDF file is a little different.
   Here are the TM5-700 and TM5-900 URDF files for your reference:
   tm5-700-nominal.urdf
   tm5-900-nominal.urdf

You can get them directly in the tm_description/urdf of tmr_ros2[branch: Humble] :

• git clone https://github.com/TechmanRobotInc/tmr_ros2.git -b humble

3. We use Isaac Sim 4.2.0 now and are temporarily not using Isaac Sim 4.5.0 as it seems to have some issues and is not stable enough.

Hope this will solve your problem.