Blender to Isaac sim

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I am trying to import a robot model from Blender to Isaac Sim. In Blender, I created an Armature (skeleton), which I exported as a USD file. I can pose and animate the armature in Blender, but after importing it into Isaac Sim, I can’t move or bend the armature—joints don’t work as expected.

My goal is to design my robot in Blender, export it (including its joints), and then use it in Isaac Sim so the robot can move and be controlled there.

My questions:

What is the recommended workflow for creating a robot in Blender, exporting it as a USD file, and making it usable (with working joints and articulation) in Isaac Sim?
How should I create joints in Blender—including any specific settings or steps—so that the joints or bones are recognized correctly as movable/articulated joints in Isaac Sim?
Are there any tools, plugins, or export settings I need to use to ensure that the armature or joint hierarchy from Blender works properly in Isaac Sim?