What you are seeing is the expected behaviour using the Camera class api since the orientation is being set using the right-handed coordinate conventions (+Z UP and +X forward). However the usd camera properties shown in the property panel are shown with the coordinate convention of (+Y up and -Z Forward).
Setting the orientation as [1, 0, 0, 0] should point the camera forwards towards the +X. Are you expecting the USD camera to be set in the ROS convention? Or you are confused with the difference between the api and USD property panel values?
Let us know if you are encountering more problems.
@oahmed Thanks for the reply. It has nothing to do with ROS. We set a value in the python api, and expect to see the same value in the properties panel. The python api convention is WXYZ, and even if it wasn’t [1,0,0,0], wouldn’t be converted to [-0.5, -0.5, 0.5, 0.5]. You can see in the image.
The Camera() class that wraps around the usd camera prim hides this difference and presents a Z up X forwards interface for consistency. This is why setting the orientation of the Camera() class does not match whats in the property window.
One solution is to place the camera prim as a child of an XformPrim, changing the orientation of the XformPrim would match as you would expect.
@Hammad_M I think the issue here might be misunderstood. The camera has a default orientation of [-0.5, -0.5, 0.5, 0.5], which is in euler is x: 90, y: -90. No matter what this value can’t be changed. We can work around it by having a prim that will rotate it back to 0, but this doesn’t solve the bug, it is just a workaround. There is a bug here that needs to be solved regardless of the parent prim workaround.
from omni.isaac.sensor import Camera
import numpy as np
from omni.isaac.core.utils.stage import update_stage_async
async def run():
right_camera = Camera("/camera_right", name="camera_right", translation=np.array([0, 0, 0]), orientation=np.array([1, 0, 0, 0]))
#comment the line below to see the difference
right_camera.set_world_pose(orientation=np.array([0, 0, 0, 1]))
Can you run this in the script editor? This should work for changing the orientation of the camera. Make sure to enable camera visualisation to see the orientation more clearly.