Hi @ddbw
This post may be helpful
I tried the third option by inserting the ur10.usd
as sublayer (right click on the .usd file → Insert as Sublayer) to be able to dragging the manipulator assembly into the hierarchy for the wheeled robot. However, because I could not model the base of the manipulator and the platform to which it is attached as a single rigid body with multiple collision shapes, I added a fixed joint between the chassis
and the base_link
prims.
Some help from @rgasoto / @MikePhysX will be welcome