Errors when put RSD455 under xform link during simulation

[Yen_Yan]

Isaac sim version: 4.2

I try to use build in depth camera (RSD455) and stick it to my robot at specific location, but when I run the simulation, it keeps showing this error:

Here is how I set the RSD455:

I found one solution is that I should put the camera directly under the robot xfrom instead of head_frame xform , but the camera would fall to the ground if I did that. My request is just stick the depth camera to the robot head without this error, or should I just ignore them?

[VickNV]

Please check whether the information in the forum topic (Gen3_lite rigid bodies error - #4 by teus) is helpful.

[Yen_Yan]

I place the camera xform directly under the robot xform and stick it to a parallel part by fixed joint. Thanks for your help!