Fix window camera pose round-trip conversion#373
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Correct the DexSim pose-to-look-at up-vector conversion, expose the configured camera-pose hotkey, document the behavior, and add regression coverage.
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Pull request overview
This PR addresses DexSim viewer camera pose round-trip consistency by converting the window camera pose matrix into look-at parameters that follow DexSim’s [right, up, -forward] model-matrix convention, and adds a p hotkey plus documentation and regression tests to preserve that behavior.
Changes:
- Added window camera pose conversion/formatting utilities and a
photkey to print a reusable camera pose snippet. - Introduced
WindowCameraPoseCfgand wired it intoSimulationManagerCfgso hotkey behavior is configurable. - Added regression tests to validate look-at conversion round-tripping and hotkey registration behavior.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| tests/sim/test_sim_manager.py | Adds regression tests for camera pose formatting, conversion round-trip, and the new hotkey behavior. |
| embodichain/lab/sim/sim_manager.py | Implements pose-to-look-at conversion, snippet formatting, printing, and hotkey registration/integration. |
| embodichain/lab/sim/cfg.py | Adds WindowCameraPoseCfg to configure the new camera pose printing hotkey behavior. |
| docs/source/features/interaction/window.md | Documents the new p hotkey and configuration knobs for camera pose printing. |
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| Recording hotkey registration is controlled by `SimConfig.window_record.enable_hotkey` (enabled by default). You can also call `SimulationManager.start_window_record()`, `stop_window_record()`, or `toggle_window_record()` programmatically. | ||
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| The camera-pose hotkey is controlled by `SimulationManagerCfg.window_camera_pose.enable_hotkey` and prints look-at form by default. Set `SimulationManagerCfg.window_camera_pose.convert_to_look_at=False` to print the raw 4x4 pose matrix instead. The same output can be requested programmatically with `SimulationManager.print_window_camera_pose()`. |
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| DexSim stores the viewer camera model matrix with columns | ||
| ``[right, up, -forward]``. ``Windows.set_look_at`` expects the | ||
| corresponding world-space look-at vectors, so the conversion is done | ||
| from the matrix columns rather than by assuming a fixed world axis. |
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| Returns: | ||
| The ``(eye, look_at, up)`` vectors accepted by | ||
| ``Windows.set_look_at``. | ||
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| Recording hotkey registration is controlled by `SimConfig.window_record.enable_hotkey` (enabled by default). You can also call `SimulationManager.start_window_record()`, `stop_window_record()`, or `toggle_window_record()` programmatically. | ||
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| The camera-pose hotkey is controlled by `SimulationManagerCfg.window_camera_pose.enable_hotkey` and prints look-at form by default. Set `SimulationManagerCfg.window_camera_pose.convert_to_look_at=False` to print the raw 4x4 pose matrix instead. The same output can be requested programmatically with `SimulationManager.print_window_camera_pose()`. |
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| import argparse | ||
| import math | ||
| import os | ||
| import time |
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Description
This PR fixes the DexSim window camera pose round trip. The printed look-at parameters now follow DexSim's
[right, up, -forward]model-matrix convention, so applying the generatedwindow.set_look_at(...)preserves the viewer orientation. It also adds the configuredphotkey, documentation, and regression tests.Dependencies: None.
Issue: No issue number was provided.
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Checklist
black .command to format the code base.