Joint settings between different Xforms

Hi,
I need help on joint settings between Xforms.
I get an error when I set a joint between Xforms.
[Physics USD Load: PhysicsUSD: CreateJoint - no bodies defined at body0 and body1, joint prim]

In the tutorial I have joints set up for objects in the same Xform, but in the reference robot I have joints set up between different Xforms.
I would like to know how to set up joints between different Xforms.

Hi,
joint has to be created between two xforms, but at least one has to be a dynamic rigid body. So there needs to be something that moves. So you can select two xforms, then add → physics → joint, but on one of those xforms there has to be a rigid body.
Regards,
Ales

Does that mean I need to create a rigid body separate from the 3D model?

No, rigid body is an additional schema added to the already existing prims. Right click → Add → Physics → RigidBody and Collisions preset.

Regards,
Ales

Thanks for the advice.

Sincerely,
Hisamichi