Lessons Learned: Creating Custom Robot Assets for NVIDIA Isaac Sim

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If you've ever tried to bring a custom robot into NVIDIA Isaac Sim, you know it's not as simple as "export URDF, import, press play." This post distills the lessons from building a simulation-ready USD asset for the UF850 robot arm with a G2 parallel-jaw gripper — a process that took 16 iterative USD file versions to get right.

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