Joint error in the physics engine


When trying to move a joint, I am getting an error:

PhysicsUSD: CreateJoint - no bodies defined at body0 and body1, joint prim: …
What is the meaning of body in this case? The two bodies defined in the joint are links that contain collisions shapes - is that not all that is needed?


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same problem, can anyone provide any soluion or did I miss something? i set all body 0 and body 1 in urdf already

Collision shapes define colliders, not bodies. You need to have something moving for a joint to work with. So you need at least one body to be defined. Apply RigidBodyAPI to one or both of the bodies that should be connected with the joint.
Applying a collider will things just collide, not move.


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