How can i fix UsdPhysics: Nested articulation roots are not allowed

when i combine my AMR with robot arm the error happen UsdPhysics: Nested articulation roots are not allowed. how can i fix it.

You should put the hierarchies of articulations on the same level.
This detects that there is an ArticulationRootAPI on a prim and somewhere another child prim does have the articulationRootAPI too. This way we cant figure out how the articulation topology should look like.
So here you should put the two articulation on the same level in the hierarchy.

thank for you help ,it can work.

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