TiledCamera renders scene incorrectly with --headless

[hersh]

I'm using TiledCamera in a reinforcement learning project. In headless mode, the wheels of the robot are not rendered in the correct poses:

In normal mode (with the Isaac Sim GUI window visible), the wheels of the robot correctly appear attached to the robot:

The only difference between these runs is the addition of "--headless" to the first command line.

Any ideas why this might be happening, or how to fix it?

I've tried with the Camera class instead of TiledCamera and that has the same incorrect behavior.

I also tried adding --experience=isaaclab.python.rendering.kit, but that didn't fix it either.

My robot model includes mecanum wheels copied from the O3dyn model.

[hersh]

Huh, well, if I use --livestream=1 or --livestream=2, it runs headless and does not show this problem. I guess it will be slower because of the extra render, but it's better than incorrect renders.

[RandomOakForest]

Thanks for posting this. It seems to me this is a bug. I'll convert this discussion into an issue and tag it as such. Thanks.