Problem with setting PD target of joints from imported URDF

Hi, I am importing the URDF of a dexterous hand but I cannot actuate all the joints. Each finger has 3 joints (proximal, middle and distal), but for some reason I can actuate only the middle one. The URDF seems to be imported fine.

When I set the PD target of the proximal joint nothing happens:

but I can edit the dof :

the middle joint though, works normally:

Also if I change the axis of the proximal joint in the urdf from:

<axis xyz="-1.0 0.0 0.0"/>


<axis xyz="0.0 1.0 0.0"/>

I can set the pd target of the proximal joint normally:

but it’s not the desired movement.
Any idea what might be causing this?


Hi @Dimitris_Dimou,

Can you share the URDF with us to have a look at?



this is the urdf from the screenshot. (1.7 MB)