How to preserve kinematic tree structure when exporting USD files

[jiangranlv]

Intro

Hi!

I am a (PhD student) at Peking University, I use MuJoCo for my research on robotics.

My setup

MuJoCo 3.1.x

My question

When using MuJoCo USDExporter, i found the kinematic tree is lost in the usd file. Can we have some easy solution to preserve it so that i can use this usd for simulation in isaac, not only rendering in isaac.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

Currently, no. The USD exporter is visual only.