Adding physxTendon to revolute joints in a custom USDA for a manipulator

[n10518975]

Hello!

I was trying to find the solution for Failed to get articulation fixed tendon stiffness from backend and I I think I may have found the root problem to this error I was receiving for not grabbing backend tendon.

I decided to look at my USD files as USDA and compare to the shadow hand example, and I think the last of physxTendon in my custom USD is the conflict . As an example of what I mean, here is the two same joints compared side by side - left is from my custom robot and the right is from the provided ShadowHand instanceable USDA from NVIDIA.

For this case, I was wondering what do I do to add the physxTendon for each revolute joint in my robot’s USDA. Is there a setting in the GUI which allows this or could this just be a matter of implementing these changes manually in the USDA file without creating errors?

[AlesBorovicka]

Hi,
yes you should be able to add tendons from the UI, if you select the joint then in the add → physics menu you should see tendons.

You can check the tendons documentation:
https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/articulations.html#tendons

Regards,
Ales