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Rhino Packages

armature

Grasshopper plugin · v1.2.1 · updated

Deprecated · no Rhino 8 build

Armature: author articulated robots in Rhino/Grasshopper and export sim-ready USD for NVIDIA Isaac Sim / Isaac Lab, MuJoCo, and ROS 2. Rigid bodies with CAD-derived inertia tensors, joints with realistic servo dynamics (Hiwonder, Dynamixel presets), transmissions that reflect stiffness and torque correctly, PhysX-correct friction materials, sensors, named frames, and a validator that catches the mistakes that make a USD load fine but behave nothing like real hardware.

Install in RhinoDownload .yakWebsite (opens in a new tab)Open in directory
Total downloads
35
Recent downloads
+2 / week+14 in the last month
Latest version
v1.2.16/22/2026
Releases
2every ~10d
First released
6/12/2026
Download size
20 MB
License
Not declared
Authors
Erik Thorson

Compatibility

Supported: WindowsSupported: MacNot supported: Rhino 6Supported: Rhino 7Not supported: Rhino 8Not supported: Rhino 9 (WIP)Not supported: Rhino pluginSupported: Grasshopper plugin
Keywords: digital-twinisaac-labisaac-simmujocoopenusdphysicsrobotroboticsros2simulationusd

How to install armature

  1. Click Install in Rhino to open Rhino's Package Manager with armature selected, or run _PackageManager inside Rhino and search for armature.
  2. Or install it from a terminal (assumes a default Rhino 7 installation):
    Windows (PowerShell)
    & "C:\Program Files\Rhino 7\System\Yak.exe" install armature
    macOS (Terminal)
    "/Applications/Rhino 7.app/Contents/Resources/bin/yak" install armature
  3. Or download the .yak file above and drag it onto an open Rhino window.

Restart Rhino once the install finishes.

Download trend

10 downloads on 2026-07-13 → 35 on 2026-10-07

armature version history

DateVersionBuildsDownloads
6/22/20261.2.126
6/12/20261.2.09

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