Obtaining specific/multiple camera views over Robot Engine Bridge (REB)

I’m currently working on an app in Isaac SDK that attempts to handle and process multiple REB camera views. I’m using the navsim_navigation subgraph from the navsim to obtain the RGB/color image data, but when I expect to receive a fixed camera view from the REB camera placed in my USD environment, I instead am receiving a feed of the current Viewport camera instead. If it only allows me to access the Viewport, that makes it difficult to handle multiple camera feeds at once.

When I read into the details of the REB camera in the environment it says the node name is “interface”, the component is “output” and the channel is “color”, but I’m not sure if this specific “interface” node is a different one from the one attached to the simulation node. Any clarity on this would be helpful. Thank you!

Here is my app.json file for reference:

{
“name”: “warehouse_forklift”,
“modules”: [
“sight”,
“viewers”,
“//apps/samples/warehouse_forklift:read_rgb”
],
“graph”: {
“nodes”: [
{
“name”: “simulation”,
“subgraph”: “packages/navsim/apps/navsim_navigation.subgraph.json”
},
{
“name”: “read_node”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “rgb_reader”,
“type”: “isaac::samples::ReadRGB”
}
]
},
{
“name”: “viewer”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “image_viewer”,
“type”: “isaac::viewers::ImageViewer”
}
]
}
],
“edges”: [
{
“source”: “simulation.interface/output/color”,
“target”: “read_node/rgb_reader/image”
},
{
“source”: “simulation.interface/output/color”,
“target”: “viewer/image_viewer/image”
}
]
},
“config”: {
“read_node” : {
“rgb_reader” : {
“tick_period” : “3s”
}
},
“viewer”: {
“ImageViewer”: {
“target_fps”: 20,
“reduce_scale”: 4
}
},
“websight”: {
“WebsightServer”: {
“port”: 3000,
“ui_config”: {
“windows”: {
“Camera”: {
“renderer”: “2d”,
“dims”: {
“width”: 640,
“height”: 480
},
“channels”: [
{
“name”: “warehouse_forklift/viewer/image_viewer/image”
}
]
}
}
}
}
}
}
}