Attaching camera to default robot's body and use it as state for RL in Isaac Sim

Hello everyone,

Thank you in advance for your time.

I am new in Isaac Sim. I would like to train a multi agent reinforcement learning algorithm for drone swarms. As part of the state of each agent, I was thinking about using a frontal camera (or another sensor, i.e. LIDAR).
I have seen the tutorial for Stable Baselines 3 and the GitHub repo ‘OmniIsaacGymEnvs’, but it seems that any of the examples are using a camera/sensor for the training.

Is there the possibility to initialize and then attach to a default asset (like a quadcopter) a camera with a fixed orientation and then use its observation as a part of the state?
Camera tutorial is quite handy for setting it while using simulator, but I can not find any Python implementation that shows how actually doing it directly with code.

Again, thank you for your answers.

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Hi @Lauqz - Apologies for the delay in response. Please let us know if you are still having any issues or questions after using the latest Isaac Sim release.