ISAAC SIM Omniverse - unable to control with joystick or built-in gamepad binding screen

Working on just adding a cube, a revolute joint, adding drive and then stiffness of 50 and then tried 1e12 (1000000000000), but when I press play, I get the following error:
DcSetDofVelocityTarget: Invalid or expired dof handle
In addition, what steps are necessary to choose the correct joystick that is connected. If I just run the sample/Kaya, there is no actual joystick selection.

Thoughts?