CameraCfg API Reference#

Complete API reference for CameraCfg configuration class.

Class Definition#

from genesislab.engine.scene import CameraCfg

@configclass
class CameraCfg:
    """Camera configuration for scene rendering and recording."""

Parameters#

Resolution#

res: tuple[int, int]#

  • Type: tuple[int, int]

  • Default: (1280, 720)

  • Description: Camera resolution (width, height)

  • Example:

    res=(1920, 1080)  # Full HD
res=(1280, 720)   # HD
res=(640, 480)    # SD

Position & Orientation#

pos: tuple[float, float, float]#

  • Type: tuple[float, float, float]

  • Default: (3.5, 0.0, 2.5)

  • Description: Camera position (x, y, z)

    • If entity_name=None: world frame position

    • If entity_name set: offset from entity in local frame

  • Example:

    pos=(5.0, 0.0, 3.0)     # World: 5m forward, 3m up
pos=(-3.0, 0.0, 2.5)    # Local: 3m behind, 2.5m up

lookat: tuple[float, float, float]#

  • Type: tuple[float, float, float]

  • Default: (0.0, 0.0, 0.5)

  • Description: Camera look-at target (x, y, z)

    • If entity_name=None: world frame target

    • If entity_name set: target direction in local frame

  • Example:

    lookat=(0.0, 0.0, 0.5)  # World: look at origin
lookat=(1.0, 0.0, 0.0)  # Local: look forward (+X)

up: tuple[float, float, float]#

  • Type: tuple[float, float, float]

  • Default: (0.0, 0.0, 1.0)

  • Description: Camera up direction (x, y, z)

  • Note: Usually keep default (Z-up)

fov: float#

  • Type: float

  • Default: 40.0

  • Range: (0, 180)

  • Description: Vertical field of view in degrees

  • Example:

    fov=30.0   # Narrow (telephoto)
fov=45.0   # Normal
fov=75.0   # Wide (first person)
fov=90.0   # Very wide

Tracking#

track_mode: Optional[str]#

  • Type: Optional[Literal["static", "chase", "follow", "side", "top", "first_person"]]

  • Default: None

  • Description: Camera tracking mode preset

  • Values:

    • None: Manual configuration

    • "static": Static camera (world frame)

    • "chase": Chase camera (behind and above) ⭐

    • "follow": Follow camera (over-the-shoulder)

    • "side": Side view

    • "top": Top-down view

    • "first_person": First-person view

  • Example:

    track_mode="chase"  # Use chase preset
track_mode=None     # Manual configuration

entity_name: Optional[str]#

  • Type: Optional[str]

  • Default: None

  • Description: Entity name to attach camera to

    • None: Static camera in world frame

    • "robot": Attach to robot entity

  • Example:

    entity_name="robot"     # Follow robot
entity_name="robot_0"   # Follow specific robot
entity_name=None        # Static camera

Backend#

backend: str#

  • Type: Literal["rasterizer", "raytracer", "batch_renderer"]

  • Default: "rasterizer"

  • Description: Camera rendering backend

  • Values:

    • "rasterizer": Fast, real-time (default)

    • "raytracer": High-quality, slow

    • "batch_renderer": Very fast for multi-env RL

  • Example:

    backend="rasterizer"      # Default, fast
backend="raytracer"       # High quality
backend="batch_renderer"  # Multi-env RL

Display#

show_in_gui: bool#

  • Type: bool

  • Default: False

  • Description: Whether to show camera window in viewer GUI

  • Note: Only works when viewer=True

  • Example:

    show_in_gui=True   # Show camera window
show_in_gui=False  # No GUI window

Methods#

__post_init__()#

Validates configuration and applies track_mode presets.

Validation:

  • res must be 2-tuple with positive values

  • fov must be in range (0, 180)

Track mode application:

  • If track_mode is set, applies preset values for pos, lookat, fov, link_name

Usage Examples#

Basic Static Camera#

from genesislab.engine.scene import CameraCfg

camera = CameraCfg(
    res=(1920, 1080),
    pos=(5.0, 0.0, 3.0),
    lookat=(0.0, 0.0, 0.5),
    fov=45.0,
)

Chase Tracking (Preset)#

camera = CameraCfg(
    track_mode="chase",
    entity_name="robot",
    res=(1920, 1080),
)

Custom Entity Attachment#

camera = CameraCfg(
    entity_name="robot",
    link_name="pelvis",
    pos=(-3.0, 0.0, 2.5),  # Behind and above
    lookat=(1.0, 0.0, 0.5),  # Look forward
    fov=50.0,
    backend="rasterizer",
)

First Person View#

camera = CameraCfg(
    track_mode="first_person",
    entity_name="robot",
    res=(1280, 720),
)
# Equivalent to:
# camera = CameraCfg(
#     entity_name="robot",
#     link_name="pelvis",
#     pos=(0.0, 0.0, 0.2),
#     lookat=(1.0, 0.0, 0.0),
#     fov=75.0,
# )

Override Preset#

camera = CameraCfg(
    track_mode="chase",       # Use chase preset
    entity_name="robot",
    pos=(-4.0, 0.5, 3.0),    # Override position
    fov=55.0,                 # Override FOV
)

Track Mode Presets#

Complete preset configurations:

Static#

{
    "pos": (5.0, 0.0, 3.0),
    "lookat": (0.0, 0.0, 0.5),
    "entity_name": None,  # Force static
    "fov": 45.0,
}

Chase#

{
    "pos": (-3.5, 0.0, 2.5),   # Behind and above
    "lookat": (1.0, 0.0, 0.5),  # Look forward
    "fov": 50.0,
}

Follow#

{
    "pos": (-2.0, 0.5, 1.8),    # Behind, slight side
    "lookat": (1.0, 0.0, 0.8),  # Look forward, up
    "fov": 45.0,
}

Side#

{
    "pos": (0.0, -3.0, 1.5),    # Right side
    "lookat": (0.0, 0.5, 0.8),  # Look inward
    "fov": 45.0,
}

Top#

{
    "pos": (0.0, 0.0, 5.0),      # Above
    "lookat": (0.5, 0.0, -1.0),  # Look down
    "fov": 60.0,
}

First Person#

{
    "pos": (0.0, 0.0, 0.2),     # Slightly above link
    "lookat": (1.0, 0.0, 0.0),  # Look forward
    "link_name": "pelvis",
    "fov": 75.0,
}

Integration with SceneCfg#

from genesislab.engine.scene import SceneCfg, CameraCfg

scene_cfg = SceneCfg(
    viewer=False,
    camera=CameraCfg(
        track_mode="chase",
        entity_name="robot",
    ),
)

See Also#