New CameraSensor Implementation

Author: daniela-hase

CHANGELOG.md

@@ -25,6 +25,7 @@
 - Add opt-in `body_frame_origin="com"` to `ModelBuilder.add_rod()` and `ModelBuilder.add_rod_graph()` for COM-centered cable capsule body frames.
 - Add `sign_method` argument to `Mesh.build_sdf` and `SDF.create_from_mesh` support for a `"normal"` (angle-weighted pseudo-normal) sign strategy, for selecting the inside/outside sign of the baked SDF (`"auto"`, `"parity"`, `"winding"`, or `"normal"`).
 - Add `forward_depth_image` output support to `SensorTiledCamera.update()` and `SensorTiledCamera.utils.create_forward_depth_image_output()` for native forward-depth rendering without post-processing `depth_image`.
+- Add shape-backed `CameraSensor` rendering with MJCF and USD camera import support.
 - Add optional `shear_stiffness`/`shear_damping` and `twist_stiffness`/`twist_damping` controls to `ModelBuilder.add_joint_cable()`, `ModelBuilder.add_rod()`, and `ModelBuilder.add_rod_graph()`; omitted shear defaults to stretch and omitted twist defaults to bend for compatibility.
 - Add `newton.utils.CableStiffness` and extend `newton.utils.create_cable_stiffness_from_elastic_moduli()` with `poissons_ratio`/`shear_modulus` inputs that include torsional `GJ/L` stiffness.
 - Add VBD cable validation examples covering bend stiffness, analytical bend/twist response, torsion material mapping, routed twist transfer, twist-buckling link verification, Michell/Zajac threshold behavior, and Dahl hysteresis.

docs/api/newton.rst

@@ -28,6 +28,7 @@ newton
 
    Axis
    BodyFlags
+   CameraSensor
    CollisionPipeline
    Contacts
    Control

docs/api/newton_geometry.rst

@@ -16,6 +16,7 @@ newton.geometry
    BroadPhaseAllPairs
    BroadPhaseExplicit
    BroadPhaseSAP
+   CameraSensor
    HydroelasticSDF
    NarrowPhase
 

docs/api/newton_sensors.rst

@@ -13,6 +13,7 @@ newton.sensors
    :toctree: _generated
    :nosignatures:
 
+   CameraSensor
    SensorContact
    SensorFrameTransform
    SensorIMU

newton/__init__.py

@@ -49,6 +49,7 @@
 # ==================================================================================
 from ._src.geometry import (  # noqa: E402
     SDF,
+    CameraSensor,
     Gaussian,
     GeoType,
     Heightfield,
@@ -61,6 +62,7 @@
 
 __all__ += [
     "SDF",
+    "CameraSensor",
     "Gaussian",
     "GeoType",
     "Heightfield",

newton/_src/geometry/__init__.py

@@ -1,6 +1,7 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
+from ..sensors.camera_sensor import CameraSensor
 from .broad_phase_common import test_group_pair, test_world_and_group_pair
 from .broad_phase_nxn import BroadPhaseAllPairs, BroadPhaseExplicit
 from .broad_phase_sap import BroadPhaseSAP
@@ -43,6 +44,7 @@
     "BroadPhaseAllPairs",
     "BroadPhaseExplicit",
     "BroadPhaseSAP",
+    "CameraSensor",
     "Gaussian",
     "GeoType",
     "Heightfield",

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:
-        # Heightfields are always static terrain; Gaussians are render-only (zero mass, zero inertia)
+    elif type == GeoType.HFIELD or type == GeoType.GAUSSIAN or type == GeoType.CAMERA:
+        # Heightfields are always static terrain; render sensors/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

@@ -111,6 +111,9 @@ 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

@@ -123,6 +123,8 @@ 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/sensors/__init__.py

@@ -1,2 +1,8 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
+
+from .camera_sensor import CameraSensor
+
+__all__ = [
+    "CameraSensor",
+]