Unable to add Drive Joint Component to Prismatic Joint


I am attempting to recreate the pandas gripper with the “panda_hand.usd”, “panda_leftfinger.usd”, and “panda_rightfinger.usd” but am unable add a Drive Joint Component to a Prismatic Joint. Attached is the error I am getting. Can you please help me fix the issue?

My goal is to be able to control the fingers such that I am able to open the close the gripper.

Is your whole gripper an articulation?

Add an articulation root to your panda_hand. Add the prismatic joints as usual, now test adding the drive.

See Rigging a Robot — Omniverse Robotics documentation