Rigging and Animated Obbjects

I have an USD file of Caterpillar with fully skeleton root exported from Blender. I want to create animated Caterpillar which can move, rotate in Omniverse Code. Can anyone suggest me ways to do this ?

@dangkhoa i am dabbled in Code but haven’t used it to animate a rigged mesh. suppose one potential option, albeit tedious, would be to script in keyframes for each bone into the timeline. but maybe if you could elaborate more on whether there is a specific constraints you are working with or more on the context for this animation? potentially others would know a better way to achieve it procedurally.

Thanks for your comment. I mean that I want to create animation for my vehicle so that it can run on a surface and can turn left or turn right.