Moves segmentation workaround to base Camera class (#2243)

# Description

Moves segmentation workaround to base Camera class as the bug on
instanceable assets was also affecting the non-tiled cameras.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)


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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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docs/source/refs/release_notes.rst

@@ -274,10 +274,10 @@ Breaking Changes
 .. attention::
 
 	We have identified a breaking feature for semantic segmentation and instance segmentation when using
-	``TiledCamera`` with instanceable assets. Since the Isaac Sim 4.5 / Isaac Lab 2.0 release, semantic and instance
+	``Camera`` and ``TiledCamera`` with instanceable assets. Since the Isaac Sim 4.5 / Isaac Lab 2.0 release, semantic and instance
 	segmentation outputs only render the first tile correctly and produces blank outputs for the remaining tiles.
 	We will be introducing a workaround for this fix to remove scene instancing if semantic segmentation or instance
-	segmentation is required for ``TiledCamera`` until we receive a proper fix from Omniverse as part of the next Isaac Sim release.
+	segmentation is required for ``Camera`` and ``TiledCamera`` until we receive a proper fix from Omniverse as part of the next Isaac Sim release.
 
 Migration Guide
 ---------------

source/isaaclab/docs/CHANGELOG.rst

@@ -104,7 +104,7 @@ Changed
 Fixed
 ^^^^^
 
-* Fixed issue in :class:`~isaaclab.sensors.TiledCamera` where segmentation outputs only display the first tile
+* Fixed issue in :class:`~isaaclab.sensors.TiledCamera` and :class:`~isaaclab.sensors.Camera` where segmentation outputs only display the first tile
   when scene instancing is enabled. A workaround is added for now to disable instancing when segmentation
   outputs are requested.
 

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -17,7 +17,8 @@ import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
 import omni.usd
 from isaacsim.core.prims import XFormPrim
-from pxr import UsdGeom
+from isaacsim.core.version import get_version
+from pxr import Sdf, UsdGeom
 
 import isaaclab.sim as sim_utils
 from isaaclab.utils import to_camel_case
@@ -141,6 +142,22 @@ class Camera(SensorBase):
         # Create empty variables for storing output data
         self._data = CameraData()
 
+        # HACK: we need to disable instancing for semantic_segmentation and instance_segmentation_fast to work
+        isaac_sim_version = get_version()
+        # checks for Isaac Sim v4.5 as this issue exists there
+        if int(isaac_sim_version[2]) == 4 and int(isaac_sim_version[3]) == 5:
+            if "semantic_segmentation" in self.cfg.data_types or "instance_segmentation_fast" in self.cfg.data_types:
+                omni.log.warn(
+                    "Isaac Sim 4.5 introduced a bug in Camera and TiledCamera when outputting instance and semantic"
+                    " segmentation outputs for instanceable assets. As a workaround, the instanceable flag on assets"
+                    " will be disabled in the current workflow and may lead to longer load times and increased memory"
+                    " usage."
+                )
+                stage = omni.usd.get_context().get_stage()
+                with Sdf.ChangeBlock():
+                    for prim in stage.Traverse():
+                        prim.SetInstanceable(False)
+
     def __del__(self):
         """Unsubscribes from callbacks and detach from the replicator registry."""
         # unsubscribe callbacks

source/isaaclab/isaaclab/sensors/camera/tiled_camera.py

@@ -17,7 +17,7 @@ import omni.usd
 import warp as wp
 from isaacsim.core.prims import XFormPrim
 from isaacsim.core.version import get_version
-from pxr import Sdf, UsdGeom
+from pxr import UsdGeom
 
 from isaaclab.utils.warp.kernels import reshape_tiled_image
 
@@ -93,21 +93,6 @@ class TiledCamera(Camera):
             )
         super().__init__(cfg)
 
-        # HACK: we need to disable instancing for semantic_segmentation and instance_segmentation_fast to work
-        isaac_sim_version = get_version()
-        # checks for Isaac Sim v4.5 as this issue exists there
-        if int(isaac_sim_version[2]) == 4 and int(isaac_sim_version[3]) == 5:
-            if "semantic_segmentation" in self.cfg.data_types or "instance_segmentation_fast" in self.cfg.data_types:
-                omni.log.warn(
-                    "Isaac Sim 4.5 introduced a bug in TiledCamera when outputting instance and semantic segmentation"
-                    " outputs for instanceable assets. As a workaround, the instanceable flag on assets will be"
-                    " disabled in the current workflow and may lead to longer load times and increased memory usage."
-                )
-                stage = omni.usd.get_context().get_stage()
-                with Sdf.ChangeBlock():
-                    for prim in stage.Traverse():
-                        prim.SetInstanceable(False)
-
     def __del__(self):
         """Unsubscribes from callbacks and detach from the replicator registry."""
         # unsubscribe from callbacks