simulo.Camera

The camera authoring contract — an RGB-D camera sensor.

Captures visual data (color, depth, surface normals, semantic labels) configured at authoring time; after the simulation has stepped, the typed readers return the captured tensors.

Real usage, from the shipped cartpole_eval app’s recorded rollout — a static side-view camera attached to a link on the robot:

self.robot.add_sensor(
    simulo.Camera(
        width=640,
        height=480,
        data_types=["rgb"],
        update_period=1.0 / 30.0,
        offset=simulo.SensorOffset.look_at(pos=(-5.0, 0.0, 0.5), target=(0.0, 0.0, 0.5)),
    ),
    attach_to="slider/side_cam",
)
scene.add(self.robot, at="/World/Robot")

Ordering matters: attach every sensor with add_sensor before scene.add(robot, ...) — the scene reads the robot’s sensors once, during that call, so a sensor attached afterward is silently stranded.

width

Camera.width: int

Image width in pixels.

height

Camera.height: int

Image height in pixels.

data_types

Camera.data_types: List[str]

Data types to capture (e.g. "rgb", "depth", "normals", "semantic").

offset

Camera.offset: Optional[Any]

Optional sensor placement relative to the attachment frame.

spawn

Camera.spawn: Any

Camera optics configuration.

read_rgb()

Camera.read_rgb() -> TensorLike

Color image, shape (num_envs, H, W, 3) (or (H, W, 3) for a single environment), unsigned 8-bit values.

Raises a runtime error when "rgb" is not captured or the sensor is not initialized.

read_depth()

Camera.read_depth() -> TensorLike

Depth image (distance to image plane) in meters, shape (num_envs, H, W).

Raises a runtime error when depth is not captured or the sensor is not initialized.

read_normals()

Camera.read_normals() -> TensorLike

Surface normals as unit vectors, shape (num_envs, H, W, 3).

Raises a runtime error when "normals" is not captured or the sensor is not initialized.

read_semantic()

Camera.read_semantic() -> TensorLike

Semantic segmentation class labels, shape (num_envs, H, W).

Raises a runtime error when semantic data is not captured or the sensor is not initialized.

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Note

simulo.Camera is a mode-aware name: at submit time it resolves to a lean, torch-free stand-in so your app imports instantly; on the GPU worker it resolves to the real runtime class. The contract below is the definitive list of members every simulo.Camera provides, and the contract your own subclass fulfils.

Declared as:

@runtime_checkable
class CameraProtocol(SensorProtocol, Protocol)