Error: can't use action graph and articulation controller to control the robot

It shows the error above and I use the same action graph as the JointControl example provided by you, even I just use the provided by you, I don’t know whats the problem.

Hello! sorry for the late reply. I’m trying to understand what you’re doing here. can you point me to the doc or example to which you are referring? If you follow the base example, does it work? (I am currently setting up a linux instance to investigate this).

At a casual glance though, i expect you are working from this doc 9. Joint Control: Extension Python Scripting — Omniverse Robotics documentation

A particularly concerning warning is this one about “ROS_PACKAGE_PATH” not being defined. did you source the noetic workspace already?