Add cameras as first-class objects in ModelBuilder/Model - #1

Closed

eric-heiden wants to merge 31 commits into

daniela-hase:dev/sensor-batched-camerafrom

eric-heiden:camera-api-batched

Commits on Jul 22, 2026

Add camera projection descriptor classes
eric-heiden
committed
1e9d81f
Fix fisheye descriptor defaults to match ray helpers

eric-heiden
and
claude
committed
6d247d7
Move camera ray generation into core cameras module
eric-heiden
committed
61b1be5
Support fisheye calibration resolution in camera descriptors

eric-heiden
and
claude
committed
ee92597
Add camera entity schema to Model
eric-heiden
committed
8acaf2e
Tighten camera schema annotations and flag comments

eric-heiden
and
claude
committed
aec06d9
Add ModelBuilder.add_camera and camera finalization
eric-heiden
committed
81b89e2
Replicate cameras through add_builder and replicate
eric-heiden
committed
8350112
Add eval_camera_world_xforms helper
eric-heiden
committed
e6f383f
Avoid warp array truthiness in camera xform fallback

eric-heiden
and
claude
committed
ace5637
Parse MJCF camera elements into model cameras
eric-heiden
committed
47f4a61
Parse MJCF cameras nested in frame elements

eric-heiden
and
claude
committed
0f5962f
Apply scene transform to worldbody MJCF cameras

eric-heiden
and
claude
committed
c9d4b83
Parse USD camera prims into model cameras
eric-heiden
committed
4a66b40
Remove unused import in USD camera tests
eric-heiden
committed
723ee6e
Add camera frustum visualization to viewers
eric-heiden
committed
999c009
Rebuild camera frustums on depth change

eric-heiden
and
claude
committed
e1a6ce9
Add view-from-model-camera support to viewers

eric-heiden
and
claude
committed
f259cdf
Apply camera follow before render and cache camera lookups

eric-heiden
and
claude
committed
8b9c2e1
Unify viewer camera math in core cameras module
eric-heiden
committed
c60cc02
Expose float64 camera basis helper and extend parity tests

eric-heiden
and
claude
committed
0ee7bc6
Document first-class camera API
eric-heiden
committed
3e1249a
Move test imports to module level

eric-heiden
and
claude
committed
9f1440a
Polish camera docs, frustum kernel flags, and coverage

eric-heiden
and
claude
committed
83a8b67
Align parse_usd and add_usd camera docstrings
eric-heiden
committed
0f8603a
Import non-fixed MJCF camera modes quietly

eric-heiden
and
claude
committed
5495aeb
Hoist camera helper imports to module level

eric-heiden
and
claude
committed
22a2556
Register camera frequency in builder merge offsets
eric-heiden
committed
6438212
Compute camera world transforms live instead of storing them

eric-heiden
and
claude
committed
6724e2e
Fix model camera viewer behavior
eric-heiden
committed
53e4f2e
Add model camera sensor example
eric-heiden
committed
5c8b3c6

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Add cameras as first-class objects in ModelBuilder/Model - #1

Add cameras as first-class objects in ModelBuilder/Model#1
eric-heiden wants to merge 31 commits into
daniela-hase:dev/sensor-batched-camerafrom
eric-heiden:camera-api-batched

Commits on Jul 22, 2026

Add camera projection descriptor classes

Fix fisheye descriptor defaults to match ray helpers

Move camera ray generation into core cameras module

Support fisheye calibration resolution in camera descriptors

Add camera entity schema to Model

Tighten camera schema annotations and flag comments

Add ModelBuilder.add_camera and camera finalization

Replicate cameras through add_builder and replicate

Add eval_camera_world_xforms helper

Avoid warp array truthiness in camera xform fallback

Parse MJCF camera elements into model cameras

Parse MJCF cameras nested in frame elements

Apply scene transform to worldbody MJCF cameras

Parse USD camera prims into model cameras

Remove unused import in USD camera tests

Add camera frustum visualization to viewers

Rebuild camera frustums on depth change

Add view-from-model-camera support to viewers

Apply camera follow before render and cache camera lookups

Unify viewer camera math in core cameras module

Expose float64 camera basis helper and extend parity tests

Document first-class camera API

Move test imports to module level

Polish camera docs, frustum kernel flags, and coverage

Align parse_usd and add_usd camera docstrings

Import non-fixed MJCF camera modes quietly

Hoist camera helper imports to module level

Register camera frequency in builder merge offsets

Compute camera world transforms live instead of storing them

Fix model camera viewer behavior

Add model camera sensor example