diff --git a/sim/requirements.txt b/sim/requirements.txt
index 2ee1e7bd..2798cd06 100644
--- a/sim/requirements.txt
+++ b/sim/requirements.txt
@@ -1,2 +1,5 @@
 # requirements.txt
 
+torch
+kscale-onshape-library
+mlfab
diff --git a/sim/scripts/download_urdf.sh b/sim/scripts/download_urdf.sh
new file mode 100755
index 00000000..1f27eb6a
--- /dev/null
+++ b/sim/scripts/download_urdf.sh
@@ -0,0 +1,20 @@
+#!/bin/zsh
+# ./sim/scripts/download_urdf.sh
+
+# URL of the latest model.
+url=https://cad.onshape.com/documents/71f793a23ab7562fb9dec82d/w/6160a4f44eb6113d3fa116cd/e/1a95e260677a2d2d5a3b1eb3
+
+# Output directory.
+output_dir=${MODEL_DIR}/robots/stompy
+
+kol urdf ${url} \
+    --max-ang-velocity 31.4 \
+    --suffix-to-joint-effort \
+        dof_x4_h=1.5 \
+        dof_x4=1.5 \
+        dof_x6=3 \
+        dof_x8=6 \
+        dof_x10=12 \
+        knee_revolute=13.9 \
+        ankle_revolute=6 \
+    --output-dir ${output_dir}
diff --git a/sim/scripts/drop_urdf.py b/sim/scripts/drop_urdf.py
new file mode 100644
index 00000000..20af57ad
--- /dev/null
+++ b/sim/scripts/drop_urdf.py
@@ -0,0 +1,44 @@
+"""Script to drop a URDF in Isaac Gym."""
+
+import argparse
+
+from pathlib import Path
+from sim.isaacgym import gymutil, gymtorch, gymapi
+import torch
+import mlfab
+
+
+def get_sim_params(num_threads: int, use_gpu: bool) -> gymapi.SimParams:
+    sim_params = gymapi.SimParams()
+    sim_params.substeps = 2
+    sim_params.dt = 1.0 / 60.0
+
+    sim_params.physx.solver_type = 1
+    sim_params.physx.num_position_iterations = 4
+    sim_params.physx.num_velocity_iterations = 1
+
+    sim_params.physx.num_threads = num_threads
+    sim_params.physx.use_gpu = use_gpu
+
+    return sim_params
+
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Drop a URDF in Isaac Gym.")
+    parser.add_argument("urdf_path", help="Path to the URDF file to load")
+    args = parser.parse_args()
+
+    mlfab.configure_logging()
+
+    # Verifies that the URDF exists.
+    urdf_path = Path(args.urdf_path)
+    if not urdf_path.exists():
+        raise FileNotFoundError(f"URDF file not found: {urdf_path}")
+
+    sim_params = get_sim_params(args.num_threads, args.use_gpu)
+
+
+if __name__ == "__main__":
+    # python -m sim.scripts.drop_urdf
+    main()