USD Articulation — Multi-Arm Robots

Purpose

Assemble and validate multi-link robot articulations with ArticulationRootAPI, fixed joints, and Isaac robot schema overlays before deployment.

Prerequisites

• For standalone schema authoring: matching OpenUSD and isaacsim-robot-schema library artifacts.
• For live articulation interaction, extension commands, or rendering: built Isaac Sim and the environment from isaac-sim-orchestrator.

Limitations

• Targets Isaac Sim 6 / Kit 110 unless a section states otherwise.
• Does not replace official NVIDIA documentation for unsupported edge cases.

Troubleshooting