[Question] Attach Camera to a specific link about orbit HOT 7 CLOSED

Can you try the following to see if it fixes the issue:

camera.spawn("/World/PR2/wide_stereo_r_stereo_camera_frame/dummy")

from orbit.

Thank you for your reply. I tried your change but now the camera is created farther.

from orbit.

Is it possible to get the script and asset so that we can try reproducing and fixing it from our end?

from orbit.

Is it possible to get the script and asset so that we can try reproducing and fixing it from our end?

It turned out that camera.set_world_pose_ros() was being called in the script which was messing up with the position.

I have another query, the main viewport in the gui displays the new camera created by default. If I change it back to “Perspective” from the gui, camera.data.output returns data from the perspective camera, and not from the camera on the robot anymore.
Do you have a suggestion in mind for this ? Thanks

from orbit.

That's strange. The camera uses Hydra textures which don't require opening a new viewport. So by default, it should be opening the "Perspective" camera.

I ran the play_camera.py again and it shows the default camera as the perspective camera. I switched the viewport to use the created camera and then back to "Perspective". The behavior remains unchanged for me.

from orbit.

Hmm , Interesting.
In my case, it also always open a new viewport window for every camera created.
Could it be because of the isaac-sim version?
I am using 2022.1.1.

from orbit.

Ah yes. The switch from what is now called "legacy" viewport to hydra textures happened in Kit 104 which is what the IsaacSim 2022.2 release is using.

I would recommend using the latest Isaac Sim 2022.2.1 release since there are many bug fixes and improvements that have come in.

from orbit.