# Corrections to tutorial: ROS2 Joint Control: Extension Python Scripting

**URL:** <https://forums.developer.nvidia.com/t/corrections-to-tutorial-ros2-joint-control-extension-python-scripting/289983>\
**Category:** Isaac Sim\
**Created:** [April 17, 2024, 10:43pm UTC](https://forums.developer.nvidia.com/t/corrections-to-tutorial-ros2-joint-control-extension-python-scripting/289983 "2024-04-17T22:43:43Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![pkoprov](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/pkoprov/32/310815_2.png) [@pkoprov](https://forums.developer.nvidia.com/u/pkoprov)\
**Post date:** [April 17, 2024, 10:43pm UTC](https://forums.developer.nvidia.com/t/corrections-to-tutorial-ros2-joint-control-extension-python-scripting/289983/1 "2024-04-17T22:43:43Z")

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I am going through Tutorial 7.2.10. ROS2 Joint Control: Extension Python Scripting. At the step “7.2.10.3. Add Joint States in UI”, points 4 and 5 instruct to select /panda as the articulation root.  
In the current version of Isaac Sim (2023.1.1) the Franka Emica articulation is at the root prim /franka\_alt\_fingers. So the tutorial description needs to be changed. Here is the link to the tutorial:  
[https://docs.omniverse.nvidia.com/isaacsim/latest/ros2\_tutorials/tutorial\_ros2\_manipulation.html#add-joint-states-in-ui](https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html#add-joint-states-in-ui)