[Bug Report] TiledCameraCfg placement

[shanereetz]

Describe the bug

When attempting to use a camera defined in a USD as a TiledCameraCfg, the position of the camera doesn't seem to be respected.

This workflow would be useful, so as to not have to re-define camera parameters that already exist in a USD file.

Steps to reproduce

1. Use AssetBaseCfg to bring in a USD of a D405 Realsense camera. This works as expected. Example:

 d405_camera_mount = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/D405_Realsense",
        spawn=sim_utils.UsdFileCfg(
            usd_path=f"{assets_path}/usd/D405_blend.usd",
        ),
        init_state=AssetBaseCfg.InitialStateCfg(
            pos=(0.34412, 0, 0.2),
            rot=euler_angles_to_quat(np.array([0, -31.4, 0]), degrees=True),
        ),
    )

2. Instantiate a TiledCameraCfg with spawn=None to attempt to reuse a particular camera inside this USD file, as the prim. Disclaimer: I'm not sure if this prim_path usage would be correct. Assuming D405_Realsense is the default prim inside the USD file, this path would point to the particular camera I want to use.

camera_external = TiledCameraCfg(
        prim_path="{ENV_REGEX_NS}/D405_Realsense/rsd_root/sensors/Camera_OmniVision_OV9782_Color",  # adjust path based on USD structure
        update_period=0.0,
        height=480,
        width=640,
        data_types=["rgb"],
        spawn=None,  # don't spawn - use existing
)

3. The Camera_OmniVision_OV9782_Color camera is now far away from the rest of the camera mesh and other cameras as part of this sensor. The other cameras remain at their original locations.

System Info

Describe the characteristic of your environment:

• Isaac Lab v2.3.0 tag
• Isaac Sim Version: 5.1.0
• OS: Ubuntu 24.04
• GPU: RTX PRO 6000 Blackwell Workstation
• CUDA: 12.8
• GPU Driver: 570.158.01

Additional context

Reach out internally and I can provide the USD file + project.

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.

• There is a clearly defined workflow to use a USD file's camera in a TiledCameraCfg

[RandomOakForest]

Thank you for posting this! Duly noted. The team will review it.