newton/_src/utils/import_usd.py:1358

• The loop does not check for only_load_enabled_joints before adding joints to orphan_joints. According to the has_joints check at line 1329 and parse_joint function at line 514, disabled joints should be filtered when only_load_enabled_joints is True. This inconsistency means that disabled joints may be counted in the warning message even though they weren't actually parsed.

Add a check similar to line 1329: if not joint_desc.jointEnabled and only_load_enabled_joints: continue

        for joint_key, joint_desc in joint_descriptions.items():
            if any(re.match(p, joint_key) for p in ignore_paths):
                continue
            if str(joint_desc.body0) in ignored_body_paths or str(joint_desc.body1) in ignored_body_paths:
                continue

newton/_src/utils/import_usd.py (1)

1359-1364: Consider moving the append inside the try block for accuracy.

Currently, orphan_joints.append(joint_key) executes regardless of whether parse_joint succeeds or raises a ValueError. This means joints that failed to parse are still counted in the warning message that says they "were parsed."

If you want to count only successfully parsed joints, move the append inside the try block. If the current behavior is intentional (counting all attempted joints), consider rewording the warning from "were parsed" to "were found" or "were encountered."

♻️ Option A: Count only successfully parsed joints

             try:
                 parse_joint(joint_desc, incoming_xform=incoming_world_xform)
+                orphan_joints.append(joint_key)
             except ValueError as exc:
                 if verbose:
                     print(f"Skipping joint {joint_key}: {exc}")
-            orphan_joints.append(joint_key)

♻️ Option B: Reword the warning message for accuracy

         if len(orphan_joints) > 0:
             warn_str = (
-                f"No articulation was found but {len(orphan_joints)} joints were parsed: [{', '.join(orphan_joints)}]. "
+                f"No articulation was found but {len(orphan_joints)} joints were encountered: [{', '.join(orphan_joints)}]. "
             )