Adds unit tests for multi tiled cameras (#241)

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Adds initial unit tests for multiple tiled cameras, which had several
bugs/features recently. The unit tests cover existing test cases from
the test_tiled_camera.py and a few new ones, including initialization,
groundtruth annotators, different poses, and different resolutions.

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- New feature (non-breaking change which adds functionality)

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

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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.33.8"
+version = "0.33.9"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.33.8 (2025-01-30)
+0.33.9 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -12,7 +12,7 @@ Fixed
   to the event being triggered at the wrong time after the reset.
 
 
-0.33.7 (2025-01-17)
+0.33.8 (2025-01-17)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -42,7 +42,7 @@ Fixed
   the :class:`omni.isaac.lab.assets.RigidObjectCollection` class.
 
 
-0.33.6 (2025-01-14)
+0.33.7 (2025-01-14)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -51,6 +51,15 @@ Fixed
 * Fixed the respawn of only wrong object samples in :func:`repeated_objects_terrain` of :mod:`omni.isaac.lab.terrains.trimesh` module. Previously, the function was respawning all objects in the scene instead of only the wrong object samples, which in worst case could lead to infinite respawn loop.
 
 
+0.33.6 (2025-01-16)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Added initial unit tests for multiple tiled cameras, including tests for initialization, groundtruth annotators, different poses, and different resolutions.
+
+
 0.33.5 (2025-01-13)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/test/sensors/test_tiled_camera.py

@@ -115,7 +115,7 @@ class TestTiledCamera(unittest.TestCase):
                 if im_type == "rgb":
                     self.assertEqual(im_data.shape, (1, self.camera_cfg.height, self.camera_cfg.width, 3))
                     self.assertGreater((im_data / 255.0).mean().item(), 0.0)
-                elif im_type == "depth":
+                elif im_type == "distance_to_camera":
                     self.assertEqual(im_data.shape, (1, self.camera_cfg.height, self.camera_cfg.width, 1))
                     self.assertGreater(im_data.mean().item(), 0.0)
         del camera
@@ -278,7 +278,7 @@ class TestTiledCamera(unittest.TestCase):
                     self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 3))
                     for i in range(4):
                         self.assertGreater((im_data[i] / 255.0).mean().item(), 0.0)
-                elif im_type == "depth":
+                elif im_type == "distance_to_camera":
                     self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 1))
                     for i in range(4):
                         self.assertGreater(im_data[i].mean().item(), 0.0)
@@ -1316,7 +1316,7 @@ class TestTiledCamera(unittest.TestCase):
                 if im_type == "rgb":
                     self.assertEqual(im_data.shape, (1, camera_cfg.height, camera_cfg.width, 3))
                     self.assertGreater((im_data / 255.0).mean().item(), 0.0)
-                elif im_type == "depth":
+                elif im_type == "distance_to_camera":
                     self.assertEqual(im_data.shape, (1, camera_cfg.height, camera_cfg.width, 1))
                     self.assertGreater(im_data.mean().item(), 0.0)
         del camera
@@ -1459,7 +1459,7 @@ class TestTiledCamera(unittest.TestCase):
 
         # check difference is above threshold
         self.assertGreater(
-            torch.abs((image_after - image_before).mean()), 0.05
+            torch.abs(image_after - image_before).mean(), 0.05
         )  # images of same color should be below 0.001
 
     def test_frame_offset_large_resolution(self):
@@ -1504,7 +1504,7 @@ class TestTiledCamera(unittest.TestCase):
 
         # check difference is above threshold
         self.assertGreater(
-            torch.abs((image_after - image_before).mean()), 0.05
+            torch.abs(image_after - image_before).mean(), 0.05
         )  # images of same color should be below 0.001
 
     """