Fixes pose update in `Camera` and `TiledCamera` (#2316)

# Description

Fixed `return_latest_camera_pose` option in `TiledCameraCfg` from not
being used to the argument `update_latest_camera_pose` in `CameraCfg`
with application in both `Camera` and `TiledCamera`.

## Type of change

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

## Checklist

- [ ] 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
- [ ] 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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
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 = "0.36.22"
+version = "0.36.23"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.36.23 (2025-04-24)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed ``return_latest_camera_pose`` option in :class:`~isaaclab.sensors.TiledCameraCfg` from not being used to the
+  argument ``update_latest_camera_pose`` in :class:`~isaaclab.sensors.CameraCfg` with application in both
+  :class:`~isaaclab.sensors.Camera` and :class:`~isaaclab.sensors.TiledCamera`.
+
 
 0.36.22 (2025-04-23)
 ~~~~~~~~~~~~~~~~~~~~

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

@@ -510,7 +510,8 @@ class Camera(SensorBase):
         # Increment frame count
         self._frame[env_ids] += 1
         # -- pose
-        self._update_poses(env_ids)
+        if self.cfg.update_latest_camera_pose:
+            self._update_poses(env_ids)
         # -- read the data from annotator registry
         # check if buffer is called for the first time. If so then, allocate the memory
         if len(self._data.output) == 0:

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

@@ -73,6 +73,14 @@ class CameraCfg(SensorBaseCfg):
     height: int = MISSING
     """Height of the image in pixels."""
 
+    update_latest_camera_pose: bool = False
+    """Whether to update the latest camera pose when fetching the camera's data. Defaults to False.
+
+    If True, the latest camera pose is updated in the camera's data which will slow down performance
+    due to the use of :class:`XformPrimView`.
+    If False, the pose of the camera during initialization is returned.
+    """
+
     semantic_filter: str | list[str] = "*:*"
     """A string or a list specifying a semantic filter predicate. Defaults to ``"*:*"``.
 

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

@@ -235,6 +235,10 @@ class TiledCamera(Camera):
         # Increment frame count
         self._frame[env_ids] += 1
 
+        # update latest camera pose
+        if self.cfg.update_latest_camera_pose:
+            self._update_poses(env_ids)
+
         # Extract the flattened image buffer
         for data_type, annotator in self._annotators.items():
             # check whether returned data is a dict (used for segmentation)

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

@@ -14,11 +14,3 @@ class TiledCameraCfg(CameraCfg):
     """Configuration for a tiled rendering-based camera sensor."""
 
     class_type: type = TiledCamera
-
-    return_latest_camera_pose: bool = False
-    """Whether to return the latest camera pose when fetching the camera's data. Defaults to False.
-
-    If True, the latest camera pose is returned in the camera's data which will slow down performance
-    due to the use of :class:`XformPrimView`.
-    If False, the pose of the camera during initialization is returned.
-    """

source/isaaclab/test/sensors/test_camera.py

@@ -129,6 +129,7 @@ class TestCamera(unittest.TestCase):
         # define the same offset in all conventions
         # -- ROS convention
         cam_cfg_offset_ros = copy.deepcopy(self.camera_cfg)
+        cam_cfg_offset_ros.update_latest_camera_pose = True
         cam_cfg_offset_ros.offset = CameraCfg.OffsetCfg(
             pos=POSITION,
             rot=QUAT_ROS,
@@ -138,6 +139,7 @@ class TestCamera(unittest.TestCase):
         camera_ros = Camera(cam_cfg_offset_ros)
         # -- OpenGL convention
         cam_cfg_offset_opengl = copy.deepcopy(self.camera_cfg)
+        cam_cfg_offset_opengl.update_latest_camera_pose = True
         cam_cfg_offset_opengl.offset = CameraCfg.OffsetCfg(
             pos=POSITION,
             rot=QUAT_OPENGL,
@@ -147,6 +149,7 @@ class TestCamera(unittest.TestCase):
         camera_opengl = Camera(cam_cfg_offset_opengl)
         # -- World convention
         cam_cfg_offset_world = copy.deepcopy(self.camera_cfg)
+        cam_cfg_offset_world.update_latest_camera_pose = True
         cam_cfg_offset_world.offset = CameraCfg.OffsetCfg(
             pos=POSITION,
             rot=QUAT_WORLD,
@@ -317,6 +320,8 @@ class TestCamera(unittest.TestCase):
 
     def test_camera_set_world_poses(self):
         """Test camera function to set specific world pose."""
+        # enable update latest camera pose
+        self.camera_cfg.update_latest_camera_pose = True
         camera = Camera(self.camera_cfg)
         # play sim
         self.sim.reset()
@@ -339,6 +344,8 @@ class TestCamera(unittest.TestCase):
 
     def test_camera_set_world_poses_from_view(self):
         """Test camera function to set specific world pose from view."""
+        # enable update latest camera pose
+        self.camera_cfg.update_latest_camera_pose = True
         camera = Camera(self.camera_cfg)
         # play sim
         self.sim.reset()

source/isaaclab/test/sensors/test_ray_caster_camera.py

@@ -715,6 +715,7 @@ class TestWarpCamera(unittest.TestCase):
                 focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5)
             ),
             offset=CameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"),
+            update_latest_camera_pose=True,
         )
         prim_usd = prim_utils.create_prim("/World/Camera_usd", "Xform")
         prim_usd.GetAttribute("xformOp:translate").Set(tuple(POSITION))