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New CameraSensor Implementation #3627

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699fe54
New CameraSensor Implementation
daniela-hase Jul 24, 2026
22e43e0
Updating existing unittests
daniela-hase Jul 25, 2026
b635da2
Renamed CameraSensor to SensorCamera
daniela-hase Jul 27, 2026
1e200ca
Moved RenderContext to _src/render
daniela-hase Jul 29, 2026
65ae967
Adopted Site workflow
daniela-hase Jul 29, 2026
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -28,6 +28,7 @@
- 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 `SensorCamera` 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.
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