[Question] Question on Setting up the camera on robot head, but the pose is not as what I have setting

[cidxb]

Question

I am using isaac Sim 4.2.0.2 and omni-isaac-lab 0.24.19

I was using the following code for setting up a camera on my robot's head

@configclass
class TableSceneCfg(InteractiveSceneCfg):
    """Scene configuration with robot, table, and objects."""
    camera = CameraCfg(
        prim_path="{ENV_REGEX_NS}/Robot/head_Link/front_cam",
        update_period=0.1,
        height=720,
        width=1280,
        data_types=["rgb", "distance_to_image_plane"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=24.0,
            focus_distance=400.0,
            horizontal_aperture=20.955,
            clipping_range=(0.1, 1.0e5),
        ),
        offset=CameraCfg.OffsetCfg(
            rot=(0.12279, 0.69636, -0.12279, 0.69636),  
            pos=(-0.1, 0.0, 0.0),
            convention="ros",
        ),
    )

The rotation value acquired first by using the slider inside the simulation , and I adjust the value slider to suitable pose and marked it down. But after I filled the value up on the cfg. When I got inside the sim ,the value still not as what as I set.

Should I do a some what operation similar to robot.write_joint_state_to_sim(joint_pos, joint_vel)?

Since I found out that, for robot , if I want the initial joint set as the value in ArticulationCfg, I must do a such operation first to reset it before the simulation (B.T.W, I am also not sure, if this the correct usage, I do learn it from examples which they use it inside the simulation loop as reset procedure, but not before it. But if I don't reset it first, the simulation will start from 0 point and slowly move to the initial pose, which is not desired).

Wish someone has solution or experience on it.

Thanks ahead for kindly help from the community.
Hat tip to you!

[RandomOakForest]

Thank you for posting this. Maybe you forgot to do a sim.reset() as explained in this tutorial.