Worked on the isaac-sim/IsaacLab repository to address a bug in the TiledCamera class, focusing on correcting the normals tensor output. The solution involved removing an unnecessary fourth channel and reshaping the tensor to a [B, H, W, 3] format, which resolved data misalignment issues affecting downstream rendering and analytics. Applied Python debugging and software testing skills to validate the fix, ensuring robust tensor handling and accurate normals output. Updated documentation and changelogs to reflect these changes, and collaborated according to project contribution guidelines. The work strengthened data integrity for camera outputs and improved reliability in the codebase.