omni.isaac.sensor.scripts.camera.Camera.set_world_pose produces unexpected orientations

[melecky]

Hi!

I have problems with setting orientation of camera using function omni.isaac.sensor.scripts.camera.Camera.set_world_pose(orientation=...)
For instance, when I want to set quaternion: [0, -1, 0, 0] I get a completely different orientation. The GUI in this case shows:

I am running Isaac 2022.2. Thank you for any suggestions.

[melecky]

Maybe this issue could be related?

Manually setting orientation (angles) in Isaac Sim

Hi, I recently started using the new version of Isaac Sim (2022.2.0) and noticed that there seems to be an issue with setting the angles of a mesh/prim when manually entering them in the Orientation/Rotation fields. (So far, I only experienced this when it is in Euler notation: X,Y,Z). I noticed two issues: When I manually enter an angle in the field and hit Enter, no change is seen in the viewport even though the field contains the value. Also, on switching to a different prim and then swit…

[Robo_qq]

hello，I also found the same issue，but how to solve this problem with code when create a camera?

[melecky]

In the end I had to write this function, using USD APIs:

def set_pose(prim_path, position=None, angle=None, rotation_axis=(0, 0, 1)):
    """Initiate the pose of a prim
    Args:
        position (tuple): position
        angle (float): angle in degrees
        rotation_axis (tuple): axis to rotate around,
                               defaults to rotation around z axis (0, 0, 1)
    """
    prim = omni.usd.get_context().get_stage().GetPrimAtPath(str(prim_path))
    xform = UsdGeom.Xformable(prim)
    xform.ClearXformOpOrder()
    transform = xform.AddTransformOp()
    mat = Gf.Matrix4d()
    if position is not None:
        mat.SetTranslateOnly(Gf.Vec3d(*position))
    if angle is not None:
        mat.SetRotateOnly(Gf.Rotation(Gf.Vec3d(*rotation_axis), angle))
    transform.Set(mat)

It is able to set orientation by rotating around some axis. (You just need to use the path of the camera prim)

[Robo_qq]

thank you!

[rthaker]

Hi!
This forum question might help. Issac Sim | Python API - Camera orientation ignored