I’m trying to replicate the UR10 FollowTarget Example with an UR5e.
In general I created an usd file which contains the UR5e similar to the existing usd file of the UR10. Except of customizing the import path of the usd file and renaming the variables and paths I didn’t change anything in the orginal files.
When running the application the following warning appears:
2022-10-04 10:58:59 [7,753ms] [Warning] [omni.usd] Coding Error: in AddXformOp at line 207 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/usdGeom/xformable.cpp -- XformOp </World/UR5e/ee_link.xformOp:orient> has typeName 'quatd' which does not match the requested precision 'PrecisionFloat'. Proceeding to use existing typeName / precision.
The result is that the robot arm moves around wildley for a few seconds before stopping in a sensless position.
How is it possible to change the type of the xformOp:orient?
When I open the usd file in IsaacSIM the field with the corresponding values is greyed out.
The usd file of the UR10 has (obviously) the right datatype.
Is there any other way of changing the datatype?
Or is there any other thing I’m doing wrong?
Many thanks in advance!