Adopted Site workflow

Author: daniela-hase

asv/benchmarks/simulation/bench_sensor_camera.py

@@ -1,7 +1,7 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""Rendering benchmarks for the shape-backed camera sensor.
+"""Rendering benchmarks for the site-backed camera sensor.
 
 ``FastSensorCamera`` and ``FastSensorCameraPixel`` measure Isaac Lab's Franka
 cabinet scene with tiled and pixel-priority rendering in CI. The other scene
@@ -245,7 +245,7 @@ def _look_at_transform(
 
 
 class _SensorCameraSceneRig:
-    """A scene replicated across worlds with a shape-backed camera sensor ready to render."""
+    """A scene replicated across worlds with a site-backed camera sensor ready to render."""
 
     def __init__(
         self,
@@ -266,7 +266,7 @@ def __init__(
             )
         )
         camera = _look_at_transform(preset.camera_eye, preset.camera_target)
-        world.add_shape_camera(camera=self.sensor, xform=camera)
+        world.add_site(camera=self.sensor, xform=camera)
 
         scene = newton.ModelBuilder()
         scene.default_bvh_cfg.mesh_constructor = "cubql"
@@ -290,6 +290,7 @@ def __init__(
             shape_indices=np.arange(self.model.shape_count, dtype=np.int32)
         )
         self.sensor.render_context = self.render_context
+        self.sensor.finalize()
 
         self.color_image = self.sensor.create_color_image_output()
         self.depth_image = self.sensor.create_depth_image_output()

docs/api/newton.rst

@@ -29,6 +29,11 @@ newton
 
    Axis
    BodyFlags
+   CameraFisheyeFThetaSpec
+   CameraFisheyeKannalaBrandtSpec
+   CameraFisheyeOpenCVSpec
+   CameraPinholeSpec
+   CameraSpec
    ClearData
    CollisionPipeline
    Contacts

docs/api/newton_sensors.rst

@@ -13,6 +13,11 @@ newton.sensors
    :toctree: _generated
    :nosignatures:
 
+   CameraFisheyeFThetaSpec
+   CameraFisheyeKannalaBrandtSpec
+   CameraFisheyeOpenCVSpec
+   CameraPinholeSpec
+   CameraSpec
    SensorCamera
    SensorContact
    SensorFrameTransform

newton/__init__.py

@@ -141,6 +141,25 @@
     "WorldRenderFlag",
 ]
 
+# ==================================================================================
+# sensors
+# ==================================================================================
+from ._src.sensors import (  # noqa: E402
+    CameraFisheyeFThetaSpec,
+    CameraFisheyeKannalaBrandtSpec,
+    CameraFisheyeOpenCVSpec,
+    CameraPinholeSpec,
+    CameraSpec,
+)
+
+__all__ += [
+    "CameraFisheyeFThetaSpec",
+    "CameraFisheyeKannalaBrandtSpec",
+    "CameraFisheyeOpenCVSpec",
+    "CameraPinholeSpec",
+    "CameraSpec",
+]
+
 # ==================================================================================
 # submodule APIs
 # ==================================================================================

newton/_src/geometry/inertia.py

@@ -699,8 +699,8 @@ def _shift_inertia(mass, I_mat, com_from, com_to):
                 density, scale[0] - thickness, scale[1] - thickness, scale[2] - thickness
             )
             return solid[0] - hollow[0], solid[1], solid[2] - hollow[2]
-    elif type == GeoType.HFIELD or type == GeoType.GAUSSIAN or type == GeoType.CAMERA:
-        # Heightfields are always static terrain; render sensors/assets contribute no mass.
+    elif type == GeoType.HFIELD or type == GeoType.GAUSSIAN:
+        # Heightfields are always static terrain; Gaussian render assets contribute no mass.
         return 0.0, wp.vec3(), wp.mat33()
     elif type == GeoType.MESH or type == GeoType.CONVEX_MESH:
         assert src is not None, "src must be provided for mesh or convex hull shapes"

newton/_src/geometry/types.py

@@ -111,9 +111,6 @@ class GeoType(enum.IntEnum):
     GAUSSIAN = 11
     """Gaussian splat."""
 
-    CAMERA = 12
-    """Camera sensor."""
-
     @property
     def is_primitive(self) -> bool:
         """Return whether this is a primitive (analytically defined) shape type."""

newton/_src/geometry/utils.py

@@ -123,8 +123,6 @@ def compute_shape_radius(geo_type: int, scale: Vec3, src: Mesh | Heightfield | N
                 vmax = vmax + np.max(np.abs(src.scales), axis=0) * scale_arr
             return float(np.linalg.norm(vmax))
         return 10.0
-    elif geo_type == GeoType.CAMERA:
-        return 0.0
     else:
         return 10.0
 

newton/_src/render/types.py

@@ -31,7 +31,7 @@ class RenderOrder(enum.IntEnum):
 
 
 class WorldRenderFlag(enum.IntFlag):
-    """Per-world rendering behavior for shape-backed camera sensors."""
+    """Per-world rendering behavior for site-backed camera sensors."""
 
     DISABLE_PRESERVE = 0
     """Skip rendering and leave output pixels unchanged."""

newton/_src/sensors/__init__.py

@@ -1,8 +1,20 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-from .sensor_camera import SensorCamera
+from .sensor_camera import (
+    CameraFisheyeFThetaSpec,
+    CameraFisheyeKannalaBrandtSpec,
+    CameraFisheyeOpenCVSpec,
+    CameraPinholeSpec,
+    CameraSpec,
+    SensorCamera,
+)
 
 __all__ = [
+    "CameraFisheyeFThetaSpec",
+    "CameraFisheyeKannalaBrandtSpec",
+    "CameraFisheyeOpenCVSpec",
+    "CameraPinholeSpec",
+    "CameraSpec",
     "SensorCamera",
 ]