Hi recently, I'm trying to attach robotiq-2f 140 with UR10 robot.

First, I've try it with 'robot assembler' on the isaac sim workflow. However, I does not work raising error "Missing references found." as figure below. I used both robots from nvidia asset.

Later I found that, I can replicate the robot assembler by creating fixed joint between the end-effector and gripper base with proper position/orientation. It just looks like the figure below

After saving the robot in a USD format, I tried to spawn it from environment using isaac lab.

I used 'UsdFileCfg' method inside 'ArticulationCfg'.

However, I got an error:

Does anyone knows how I need to do??

Thanks