Gain Tuner in Isaac Sim v5.0.0 does not recognize joints

[Hisamichi]

Isaac Sim Version

5.0.0
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model: RTX A4000
• Driver Version: 550.163.01

Topic Description

Detailed Description

Hello everyone,
I am trying to tune the joint gains of my custom robot in Isaac Sim v5.0.0, but the Gain Tuner does not recognize the joints.

This robot asset has been used since v4.5.0, so I followed the tutorial and added the “Robot Schema”:

• defaultPrim → IsaacRobotAPI
• Robot bodys Xform → IsaacLinkAPI
• Joints → IsaacJointAPI

After doing this, the Gain Tuner was able to recognize the robot itself, but it still does not recognize the joints.

I would appreciate any advice on how to resolve this issue.

[VickNV]

Thank you for the detailed information. To help us investigate this, could you please provide a minimal, reproducible example of your robot asset, such as a USD file? Additionally, a screencast of the USD stage tree showing how you have applied the APIs (IsaacRobotAPI, IsaacLinkAPI, and IsaacJointAPI) would be very helpful.

This will allow us to see if there’s a specific configuration issue or a change in the expected workflow for joint recognition in the new version.

[Hisamichi]

Hello @VickNV ,

Thank you for your reply.
Unfortunately, I cannot share the USD file that is causing the issue, as it is related to an unpublished paper.
However, I can provide a screencast of the USD tree.

I would appreciate any advice you could give me, even with this limited information.