[Question]: RepCamera not recording images

[xiaoxTM]

Question

Hi,
I tried to copy the demo to create my own robot with stereo camera on it.
I setup the RepCameraCfg as:

  camera_cfg_left = RepCameraCfg(
    name='camera_left',  # should be unique among all sensors
    prim_path='robot_rl/chassis_link/Shoulder_View2',
    resolution=(640, 480),
    depth=True,
    camera_params=True,
)

camera_cfg_right = RepCameraCfg(
    name='camera_right', # should be unique among all sensors
    prim_path='robot_rl/chassis_link/RGB_Camera',
    resolution=(640, 480),
    depth=True,
    camera_params=True,
)

and added them to the robot

class MyRobotCfg(RobotCfg):
    # meta info
    name: Optional[str] = 'my_robot'
    type: Optional[str] = 'MyRobot'
    prim_path: Optional[str] = '/World'
    usd_path: Optional[str] = gm.ASSET_PATH + '/robots/robot.usd'
    sensors: Optional[list] = [camera_cfg_left, camera_cfg_right]  # add more sensors if needed

However, when runing the demo with configuration as follow:

config = Config(
    simulator=SimConfig(physics_dt=1 / 240, rendering_dt=1 / 240, use_fabric=False, headless=headless, webrtc=headless),
    task_configs=[
        SingleInferenceTaskCfg(
            scene_asset_path=gm.ASSET_PATH + f'/scenes/GRScenes-100/home_scenes/scenes/{args_cli.scene}/start_result_navigation.usd',
            robots=[
                VacuumRobotCfg(
                    position=(906.21777, -209.95022, 4.5),
                    controllers=[move_by_speed_cfg],
                    scale=(100.0, 100.0, 100.0),
                )
            ],
        ),
    ],
)

import_extensions()

env = Env(config)
obs, _ = env.reset()

I found that the camera paramete and images are empty:

It looks like the camera are not properly setup, but I don't know how to set them up.

Any advice is much appreciated。 Thanks