Replicator Camera Orientation

Hi, I found the similar problem with you, and I wrote a pose of it, hope it can help you out.
Or you can just read the following “Solution part”.

Solution

According to the discussion in the form, I think its a designed mechanism to automatically keep the same camera coordinate system(+Y up) across different USD files.

And if you want to cancel this “auto-rotation” effect, you can use camera_axes="usd" args in set_world_pose().

from omni.isaac.sensor import Camera
camera = Camera(
    prim_path="/World/camera",
    position=np.array([0, 0, 0]),
    orientation=np.array([1, 0, 0, 0]),
)
camera.set_world_pose(np.array([0, 0, 0]), np.array([1, 0, 0, 0]), camera_axes="usd")
my_world.step(render=True)

This way, the default camera pose will aligned with the world frame.
Pasted image 20240501181344 Pasted image 20240501181355

You can find more detailed information about set_world_pose() in the API docs of it here.