diff --git a/source/extensions/isaacsim.examples.interactive/config/extension.toml b/source/extensions/isaacsim.examples.interactive/config/extension.toml
index 4c02c858..c1b34dc8 100644
--- a/source/extensions/isaacsim.examples.interactive/config/extension.toml
+++ b/source/extensions/isaacsim.examples.interactive/config/extension.toml
@@ -95,6 +95,9 @@ name = "isaacsim.examples.interactive.franka"
 [[python.module]]
 name = "isaacsim.examples.interactive.pick_place"
 
+[[python.module]]
+name = "isaacsim.examples.interactive.robot_joint_control"
+
 [[test]]
 timeout = 900
 
diff --git a/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/__init__.py b/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/__init__.py
new file mode 100644
index 00000000..3eb575dd
--- /dev/null
+++ b/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/__init__.py
@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from isaacsim.examples.interactive.robot_joint_control.robot_joint_control import RobotJointControl
+from isaacsim.examples.interactive.robot_joint_control.robot_joint_control_extension import RobotJointControlExtension
diff --git a/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/robot_joint_control.py b/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/robot_joint_control.py
new file mode 100644
index 00000000..17ac145a
--- /dev/null
+++ b/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/robot_joint_control.py
@@ -0,0 +1,183 @@
+# SPDX-FileCopyrightText: Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import numpy as np
+from isaacsim.core.api.objects import DynamicCuboid
+from isaacsim.core.api.tasks import BaseTask
+from isaacsim.core.utils.stage import add_reference_to_stage
+from isaacsim.examples.interactive.base_sample import BaseSample
+from isaacsim.robot.manipulators.manipulators import SingleManipulator
+from isaacsim.robot.manipulators.grippers import ParallelGripper
+
+
+class RobotJointControlTask(BaseTask):
+    """Task for robot joint control demonstration."""
+
+    def __init__(self, name: str = "robot_joint_control_task") -> None:
+        super().__init__(name=name, offset=None)
+        self._robot = None
+        self._robot_name = "franka_robot"
+
+    def set_up_scene(self, scene):
+        super().set_up_scene(scene)
+
+        # Add ground plane
+        scene.add_default_ground_plane()
+
+        # Add Franka robot
+        asset_path = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/Robots/FrankaRobot/franka_alt_fingers.usd"
+        add_reference_to_stage(usd_path=asset_path, prim_path="/World/Franka")
+
+        # Define gripper
+        gripper = ParallelGripper(
+            end_effector_prim_path="/World/Franka/panda_rightfinger",
+            joint_prim_names=["panda_finger_joint1", "panda_finger_joint2"],
+            joint_opened_positions=np.array([0.04, 0.04]),
+            joint_closed_positions=np.array([0.0, 0.0]),
+            action_deltas=np.array([0.04, 0.04]),
+        )
+
+        # Create manipulator
+        self._robot = scene.add(
+            SingleManipulator(
+                prim_path="/World/Franka",
+                name=self._robot_name,
+                end_effector_prim_path="/World/Franka/panda_hand",
+                gripper=gripper,
+            )
+        )
+
+        # Add a target cube for reference
+        scene.add(
+            DynamicCuboid(
+                prim_path="/World/TargetCube",
+                name="target_cube",
+                position=np.array([0.5, 0.0, 0.5]),
+                scale=np.array([0.05, 0.05, 0.05]),
+                color=np.array([1.0, 0.0, 0.0]),
+            )
+        )
+        return
+
+    def get_params(self) -> dict:
+        return {"robot_name": {"value": self._robot_name, "modifiable": False}}
+
+    def get_observations(self) -> dict:
+        robot = self._robot
+        observations = {
+            self._robot_name: {
+                "joint_positions": robot.get_joint_positions(),
+                "end_effector_position": robot.end_effector.get_world_pose()[0],
+                "end_effector_orientation": robot.end_effector.get_world_pose()[1],
+            }
+        }
+        return observations
+
+    def pre_step(self, control_index: int, simulation_time: float) -> None:
+        return
+
+    def post_reset(self) -> None:
+        return
+
+
+class RobotJointControl(BaseSample):
+    """Example demonstrating direct robot joint position control."""
+
+    def __init__(self) -> None:
+        super().__init__()
+        self._robot = None
+        self._articulation_controller = None
+        self._joint_positions = None
+        self._num_joints = 9  # 7 arm joints + 2 gripper joints for Franka
+
+    def setup_scene(self):
+        world = self.get_world()
+        world.add_task(RobotJointControlTask())
+        return
+
+    async def setup_post_load(self):
+        self._task = list(self._world.get_current_tasks().values())[0]
+        self._task_params = self._task.get_params()
+        self._robot = self._world.scene.get_object(self._task_params["robot_name"]["value"])
+        self._articulation_controller = self._robot.get_articulation_controller()
+        self._joint_positions = self._robot.get_joint_positions()
+        return
+
+    async def setup_pre_reset(self):
+        world = self.get_world()
+        if world.physics_callback_exists("joint_control_step"):
+            world.remove_physics_callback("joint_control_step")
+        return
+
+    def world_cleanup(self):
+        self._robot = None
+        self._articulation_controller = None
+        self._joint_positions = None
+        return
+
+    def get_joint_positions(self) -> np.ndarray:
+        """Get current joint positions."""
+        if self._robot is not None:
+            return self._robot.get_joint_positions()
+        return np.zeros(self._num_joints)
+
+    def get_num_joints(self) -> int:
+        """Get number of joints."""
+        return self._num_joints
+
+    def set_joint_position(self, joint_index: int, position: float):
+        """Set position for a specific joint."""
+        if self._joint_positions is not None and 0 <= joint_index < len(self._joint_positions):
+            self._joint_positions[joint_index] = position
+
+    def apply_joint_positions(self):
+        """Apply the current joint positions to the robot."""
+        if self._articulation_controller is not None and self._joint_positions is not None:
+            from isaacsim.core.api.utils.types import ArticulationAction
+            action = ArticulationAction(joint_positions=self._joint_positions)
+            self._articulation_controller.apply_action(action)
+
+    async def _on_start_control_event_async(self, val):
+        """Start or stop joint control simulation."""
+        world = self.get_world()
+        if val:
+            await world.play_async()
+            world.add_physics_callback("joint_control_step", self._on_joint_control_step)
+        else:
+            if world.physics_callback_exists("joint_control_step"):
+                world.remove_physics_callback("joint_control_step")
+        return
+
+    def _on_joint_control_step(self, step_size):
+        """Physics callback for joint control."""
+        self.apply_joint_positions()
+        return
+
+    def move_to_home_position(self):
+        """Move robot to home position."""
+        # Franka home position
+        home_positions = np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785, 0.04, 0.04])
+        self._joint_positions = home_positions
+        self.apply_joint_positions()
+
+    def open_gripper(self):
+        """Open the gripper."""
+        if self._robot is not None:
+            self._robot.gripper.open()
+
+    def close_gripper(self):
+        """Close the gripper."""
+        if self._robot is not None:
+            self._robot.gripper.close()
diff --git a/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/robot_joint_control_extension.py b/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/robot_joint_control_extension.py
new file mode 100644
index 00000000..1ec501dd
--- /dev/null
+++ b/source/extensions/isaacsim.examples.interactive/isaacsim/examples/interactive/robot_joint_control/robot_joint_control_extension.py
@@ -0,0 +1,256 @@
+# SPDX-FileCopyrightText: Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import asyncio
+import os
+
+import omni.ext
+import omni.ui as ui
+from isaacsim.examples.browser import get_instance as get_browser_instance
+from isaacsim.examples.interactive.base_sample import BaseSampleUITemplate
+from isaacsim.examples.interactive.robot_joint_control import RobotJointControl
+from isaacsim.gui.components.ui_utils import btn_builder, get_style, setup_ui_headers, state_btn_builder, float_builder
+
+
+class RobotJointControlExtension(omni.ext.IExt):
+    def on_startup(self, ext_id: str):
+        self.example_name = "Robot Joint Control"
+        self.category = "Manipulation"
+
+        ui_kwargs = {
+            "ext_id": ext_id,
+            "file_path": os.path.abspath(__file__),
+            "title": "Robot Joint Control",
+            "doc_link": "https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/examples.html",
+            "overview": "This example demonstrates direct robot joint position control.\n\n"
+                        "Click 'Load' to load the scene with a Franka robot.\n"
+                        "Use the sliders to control individual joint positions.\n"
+                        "Click 'Start' to begin applying joint positions.\n\n"
+                        "Features:\n"
+                        "- Direct joint position control via sliders\n"
+                        "- Home position preset\n"
+                        "- Gripper open/close control",
+            "sample": RobotJointControl(),
+        }
+
+        ui_handle = RobotJointControlUI(**ui_kwargs)
+
+        get_browser_instance().register_example(
+            name=self.example_name,
+            execute_entrypoint=ui_handle.build_window,
+            ui_hook=ui_handle.build_ui,
+            category=self.category,
+        )
+        return
+
+    def on_shutdown(self):
+        get_browser_instance().deregister_example(name=self.example_name, category=self.category)
+        return
+
+
+class RobotJointControlUI(BaseSampleUITemplate):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self._joint_sliders = []
+
+    def build_extra_frames(self):
+        extra_stacks = self.get_extra_frames_handle()
+        self.task_ui_elements = {}
+
+        with extra_stacks:
+            with ui.CollapsableFrame(
+                title="Joint Control",
+                width=ui.Fraction(0.33),
+                height=0,
+                visible=True,
+                collapsed=False,
+                horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
+                vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
+            ):
+                self.build_joint_control_ui()
+
+            with ui.CollapsableFrame(
+                title="Quick Actions",
+                width=ui.Fraction(0.33),
+                height=0,
+                visible=True,
+                collapsed=False,
+                horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
+                vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
+            ):
+                self.build_quick_actions_ui()
+        return
+
+    def build_joint_control_ui(self):
+        # Joint limits for Franka robot (approximate)
+        joint_limits = [
+            (-2.8973, 2.8973),   # Joint 1
+            (-1.7628, 1.7628),   # Joint 2
+            (-2.8973, 2.8973),   # Joint 3
+            (-3.0718, -0.0698),  # Joint 4
+            (-2.8973, 2.8973),   # Joint 5
+            (-0.0175, 3.7525),   # Joint 6
+            (-2.8973, 2.8973),   # Joint 7
+            (0.0, 0.04),         # Finger 1
+            (0.0, 0.04),         # Finger 2
+        ]
+        joint_names = [
+            "Joint 1 (Shoulder)",
+            "Joint 2 (Shoulder)",
+            "Joint 3 (Elbow)",
+            "Joint 4 (Elbow)",
+            "Joint 5 (Wrist)",
+            "Joint 6 (Wrist)",
+            "Joint 7 (Wrist)",
+            "Finger Left",
+            "Finger Right",
+        ]
+
+        with ui.VStack(spacing=5):
+            # Start/Stop control button
+            dict = {
+                "label": "Joint Control",
+                "type": "button",
+                "a_text": "START",
+                "b_text": "STOP",
+                "tooltip": "Start/Stop joint control",
+                "on_clicked_fn": self._on_start_control_button_event,
+            }
+            self.task_ui_elements["Start Control"] = state_btn_builder(**dict)
+            self.task_ui_elements["Start Control"].enabled = False
+
+            ui.Spacer(height=10)
+            ui.Label("Joint Positions (radians):", height=20)
+            ui.Spacer(height=5)
+
+            # Create sliders for each joint
+            self._joint_sliders = []
+            for i, (name, limits) in enumerate(zip(joint_names, joint_limits)):
+                with ui.HStack(height=25):
+                    ui.Label(name, width=120)
+                    slider = ui.FloatSlider(min=limits[0], max=limits[1], step=0.01)
+                    slider.model.set_value(0.0)
+                    slider.model.add_value_changed_fn(lambda m, idx=i: self._on_joint_slider_changed(idx, m.get_value_as_float()))
+                    self._joint_sliders.append(slider)
+                    slider.enabled = False
+
+    def build_quick_actions_ui(self):
+        with ui.VStack(spacing=5):
+            dict = {
+                "label": "Home Position",
+                "type": "button",
+                "text": "GO HOME",
+                "tooltip": "Move robot to home position",
+                "on_clicked_fn": self._on_home_button_event,
+            }
+            self.task_ui_elements["Home Position"] = btn_builder(**dict)
+            self.task_ui_elements["Home Position"].enabled = False
+
+            dict = {
+                "label": "Open Gripper",
+                "type": "button",
+                "text": "OPEN",
+                "tooltip": "Open the gripper",
+                "on_clicked_fn": self._on_open_gripper_button_event,
+            }
+            self.task_ui_elements["Open Gripper"] = btn_builder(**dict)
+            self.task_ui_elements["Open Gripper"].enabled = False
+
+            dict = {
+                "label": "Close Gripper",
+                "type": "button",
+                "text": "CLOSE",
+                "tooltip": "Close the gripper",
+                "on_clicked_fn": self._on_close_gripper_button_event,
+            }
+            self.task_ui_elements["Close Gripper"] = btn_builder(**dict)
+            self.task_ui_elements["Close Gripper"].enabled = False
+
+    def _on_start_control_button_event(self, val):
+        asyncio.ensure_future(self.sample._on_start_control_event_async(val))
+        return
+
+    def _on_joint_slider_changed(self, joint_index: int, value: float):
+        if self.sample is not None:
+            self.sample.set_joint_position(joint_index, value)
+        return
+
+    def _on_home_button_event(self):
+        if self.sample is not None:
+            self.sample.move_to_home_position()
+            # Update sliders to reflect home position
+            home_positions = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785, 0.04, 0.04]
+            for i, pos in enumerate(home_positions):
+                if i < len(self._joint_sliders):
+                    self._joint_sliders[i].model.set_value(pos)
+        return
+
+    def _on_open_gripper_button_event(self):
+        if self.sample is not None:
+            self.sample.open_gripper()
+            # Update gripper sliders
+            if len(self._joint_sliders) >= 9:
+                self._joint_sliders[7].model.set_value(0.04)
+                self._joint_sliders[8].model.set_value(0.04)
+        return
+
+    def _on_close_gripper_button_event(self):
+        if self.sample is not None:
+            self.sample.close_gripper()
+            # Update gripper sliders
+            if len(self._joint_sliders) >= 9:
+                self._joint_sliders[7].model.set_value(0.0)
+                self._joint_sliders[8].model.set_value(0.0)
+        return
+
+    def post_reset_button_event(self):
+        self.task_ui_elements["Start Control"].enabled = True
+        self.task_ui_elements["Home Position"].enabled = True
+        self.task_ui_elements["Open Gripper"].enabled = True
+        self.task_ui_elements["Close Gripper"].enabled = True
+        for slider in self._joint_sliders:
+            slider.enabled = True
+        if self.task_ui_elements["Start Control"].text == "STOP":
+            self.task_ui_elements["Start Control"].text = "START"
+        # Reset sliders to zero
+        for slider in self._joint_sliders:
+            slider.model.set_value(0.0)
+        return
+
+    def post_load_button_event(self):
+        self.task_ui_elements["Start Control"].enabled = True
+        self.task_ui_elements["Home Position"].enabled = True
+        self.task_ui_elements["Open Gripper"].enabled = True
+        self.task_ui_elements["Close Gripper"].enabled = True
+        for slider in self._joint_sliders:
+            slider.enabled = True
+        # Initialize sliders with current joint positions
+        if self.sample is not None:
+            positions = self.sample.get_joint_positions()
+            for i, pos in enumerate(positions):
+                if i < len(self._joint_sliders):
+                    self._joint_sliders[i].model.set_value(float(pos))
+        return
+
+    def post_clear_button_event(self):
+        self.task_ui_elements["Start Control"].enabled = False
+        self.task_ui_elements["Home Position"].enabled = False
+        self.task_ui_elements["Open Gripper"].enabled = False
+        self.task_ui_elements["Close Gripper"].enabled = False
+        for slider in self._joint_sliders:
+            slider.enabled = False
+        if self.task_ui_elements["Start Control"].text == "STOP":
+            self.task_ui_elements["Start Control"].text = "START"
+        return