Thanks a lot for your help!
It indeed works that way. So I suppose during the process of urdf importing, the Sim might have done some required configuration to facilitate the later articulation API adding.
What I did is just isolating the finger by editing the whole USD on stage directly, which might have missed that essential configuration I guess.
Besides, I would like to suggest some user functions like:
(1) It looks like if the prim’s USD miss some field, it is currently not shown under
PhysXProperties panel. (For example, when one of robot joints does not have
axis inside its USD, the Sim would complain about it with error log but there is no warning inside the Editor)
-> It might help to still display the field, though with an empty value, so we could notice then be able to configure it.
(2) If a joint’s relative body paths are incorrect, there seems to be no suggestion of its status as selecting the joint, also the relative paths are not editable. I had to save the whole stage to
usda to be able to edit it.
(3) It would be great to have the
URDF Importer panel allow importing from an external package folder in the drive, instead of only from
Builtin URDF at
(4) Last but not least, it might be really helpful if we have joint value slider inside the editor, so we could intuitively test if its joint axis and upper/lower limitation are correct
Thank you very much again for your quick support!