How to assign joint indices in Isaac Sim when importing a new urdf?

Omniverse Isaac Sim
1

I’m trying to build a legged robot with an arm. I hope the joint order follows [base_dof, arm_dof]. However, when I import my urdf, the joint indices have changed. (I find out this by Articulation Inspector). Is there anything wrong with my URDF? Thanks a lot!
aliengo-z1.urdf (26.5 KB)

2

I change the parent link of joint1 from trunk to imu_link, then the joint indices is correct. But I still don’t know how the physics engine of Isaac Sim works to figure out the joint indices.😥

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