Can't Configure Isaac Sim Robot Properly

[vickistavro]

Hi there! I’m using Isaac Sim Version 4.2.0 on my Windows 11 PC. I’m having an issue with configuring the Franka bot. When moving the joints manually, they continuously disconnect from the rest of the arm, and when i try to connect 2 joints by creating a “Revolute Joint” as shown in this tutorial “https://youtu.be/pxPFr58gHmQ” the console says “error, the /panda/panda/link_5 appears to be a part of a closed articulation, which is not supported, please exclude one of the joints” and then proceeds to list all of the joints. does this mean they are already connected? and if so, is it normal for the joints to be able to disconnect? I read online that it isn’t normal for this to happen and that’s why I’m not sure how to move forward and solve this issue. I want to know how to properly configure a robot on isaac sim as the forums state many different configuration options, but I just want to know the basics so I’m able to control my bot without error. Could you guys also tell me where you learned how to use isaac sim so well? The isaac sim docs are a bit confusing at times, and some of the information such as certain extensions are outdated. Any help would be extremely appreciated! I’m a beginner and trying my best to learn, I’m sorry if some of my questions seem a bit silly (edited)