Exclude from Articulation in Grippers

[Officially-Siddhant]

When setting up grippers (AG95 and Robotiq 2f85), there is some good material on going about configuring knuckle and finger joints. Here's a guide I've followed. However, PhysX doesn't allow angular drives to be added to joints excluded from articulation. Note that this is for the left_inner_knuckle_joint and the right_inner_knuckle_joint. Logically, excluding those joints from articulation seems counter-intuitive as well. What's more, having gone through the tutorial, it's also not possible to mimic a joint that is excluded from articulation.

After some reading, the right way of going about this would be to align and fix joint alignments. Can anybody point me towards resources to add Angular Drive to joints that are excluded from articulations? Also, has anyone fixed the hanging/swaying link problem with grippers without the "exclude from articulation" approach?

[liilatorabi]

Please see if this tutorial is helpful: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup_tutorials/rig_closed_loop_structures.html#tutorial-10-rig-closed-loop-structures