concepts.simulator.sapien2.urdf_exporter.export_kinematic_chain_urdf# export_kinematic_chain_urdf(articulation, force_fix_root=False)[source]# Exports the articulation’s kinematic chain URDF as a string (without visual/collision elements for links) Parameters: force_fix_root (bool) – Change all floating joints to fixed joints. articulation (sapien.core.ArticulationBase) Return type: str