Camera

Configuration

The CameraCfg class defines the configuration for camera sensors. It inherits from SensorCfg and controls resolution, clipping planes, intrinsics, and active data modalities.

Parameter	Type	Default	Description
width	int	640	Width of the captured image.
height	int	480	Height of the captured image.
intrinsics	tuple	(600, 600, 320.0, 240.0)	Camera intrinsics (fx, fy, cx, cy).
extrinsics	ExtrinsicsCfg	ExtrinsicsCfg()	Pose configuration (see below).
near	float	0.005	Near clipping plane distance.
far	float	100.0	Far clipping plane distance.
enable_color	bool	True	Enable RGBA image capture.
enable_depth	bool	False	Enable depth map capture.
enable_mask	bool	False	Enable segmentation mask capture.
enable_normal	bool	False	Enable surface normal capture.
enable_position	bool	False	Enable 3D position map capture.

Camera Extrinsics

The ExtrinsicsCfg class defines the position and orientation of the camera.

Parameter	Type	Default	Description
parent	str	None	Name of the link to attach to (e.g., "ee_link"). If None, camera is fixed in world.
pos	list	[0.0, 0.0, 0.0]	Position offset [x, y, z].
quat	list	[0.0, 0.0, 0.0, 1.0]	Orientation quaternion [x, y, z, w].
eye	tuple	None	(Optional) Camera eye position for look-at mode.
target	tuple	None	(Optional) Target position for look-at mode.
up	tuple	None	(Optional) Up vector for look-at mode.

Usage

You can create a camera sensor using sim.add_sensor() with a CameraCfg object.

Code Example

from embodichain.lab.sim.sensors import Camera, CameraCfg

# 1. Define Configuration
camera_cfg = CameraCfg(
    width=640,
    height=480,
    intrinsics=(600, 600, 320.0, 240.0),
    extrinsics=CameraCfg.ExtrinsicsCfg(
        parent="ee_link",        # Attach to robot end-effector
        pos=[0.09, 0.05, 0.04],  # Relative position
        quat=[0, 0, 0, 1],       # Relative rotation [x, y, z, w]
    ),
    enable_color=True,
    enable_depth=True,
)

# 2. Add Sensor to Simulation
camera: Camera = sim.add_sensor(sensor_cfg=camera_cfg)

Observation Data

Retrieve sensor data using camera.get_data(). The data is returned as a dictionary of tensors on the specified device.

Key	Data Type	Shape	Description
color	torch.uint8	(B, H, W, 4)	RGBA image data.
depth	torch.float32	(B, H, W)	Depth map in meters.
mask	torch.int32	(B, H, W)	Segmentation mask / Instance IDs.
normal	torch.float32	(B, H, W, 3)	Surface normal vectors.
position	torch.float32	(B, H, W, 3)	3D Position map (OpenGL coords).

Note: B represents the number of environments (batch size).