How to record the animation of the robot to create a render with Movie Capture

I’m trying to create a render of a robot arm controlled by ROS using Isaac Sim. The Movie Capture extension renders the animation in the timeline, so I guess the first step is to record the joint movements into the timeline. Is there a simple way to do that?

I’ve found the Omniverse Animation Recorder, but I’m not sure it’s what I need as it’s mainly designed for Machinima and doesn’t let me select the SkelRoot

How to live record the keyframes of the articulations to later render the animation?

I haven’t found the proper solution yet. Is it possible to record the position of the joints in the timeline and then render the animation?