[Bug Report] Camera Flips when num_envs > 1

Open kensukenk opened this issue 1 year ago • 1 comments

Describe the bug

A wrist-mounted TiledCamera will change orientations if num_envs > 1.

Steps to reproduce

https://gist.github.com/kensukenk/dece447d22962d44a04e3e89414d50ae

switch num_envs from 1 to 2 and observe the difference in the wrist camera behavior. Front camera remains unaffected.

num_envs = 1, wrist and front view, env 0 frame 0. This is the expected behavior step_0_wrist_env0_1 step_0_front_env0_1

num_envs = 2, wrist and front view, env 0 frame 0. In both environments, the front view is okay, but the wrist view is oriented strangely. step_0_wrist_env0_2 step_0_front_env0_2 num_envs = 2, wrist and front view, env 1 frame 0 step_0_wrist_env1_2 step_0_front_env1_2

System Info

Describe the characteristic of your environment:

Commit: 7b4dde86fbc4e0cfaac060a50fcce0e72b93127c
Isaac Sim Version: 4.2.0-rc.17+release.15988.c99988b1.gl
OS: Ubuntu 20.04
GPU: RTX 4090
CUDA: 12.1
GPU Driver: 560.35.03

Checklist

[ x] I have checked that there is no similar issue in the repo (required)
[x ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.

[ ] Camera no longer flips when num_envs > 1

Oct 02 '24 21:10 kensukenk

I was able to successfully reproduce this locally using your gist with slight modifications. Thank you! I have filed the bug report and it is being worked on :D

Oct 02 '24 22:10 mpgussert