File size: 1,600 Bytes
1e71a55 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | import torch
import isaaclab.utils.math as math_utils
def camera_follow(env, robot_name: str = "robot", env_index: int = 0, alpha: float = 0.15):
unwrapped = env.unwrapped
if not hasattr(unwrapped, "viewport_camera_controller"):
return
try:
robot = unwrapped.scene[robot_name]
except KeyError as e:
raise KeyError(
f"Robot asset '{robot_name}' not found in env.unwrapped.scene."
) from e
device = unwrapped.device
robot_pos = robot.data.root_pos_w[env_index]
robot_quat = robot.data.root_quat_w[env_index]
camera_offset = torch.tensor([-6.0, 0.0, 0.8], dtype=torch.float32, device=device)
target_camera_pos = math_utils.transform_points(
camera_offset.unsqueeze(0),
pos=robot_pos.unsqueeze(0),
quat=robot_quat.unsqueeze(0),
).squeeze(0)
target_camera_pos[2] = torch.clamp(target_camera_pos[2], min=0.2)
if not hasattr(camera_follow, "_smooth_pos"):
camera_follow._smooth_pos = {}
if env_index not in camera_follow._smooth_pos:
camera_follow._smooth_pos[env_index] = target_camera_pos.clone()
smooth_camera_pos = camera_follow._smooth_pos[env_index]
smooth_camera_pos = (1.0 - alpha) * smooth_camera_pos + alpha * target_camera_pos
camera_follow._smooth_pos[env_index] = smooth_camera_pos
unwrapped.viewport_camera_controller.set_view_env_index(env_index=env_index)
unwrapped.viewport_camera_controller.update_view_location(
eye=smooth_camera_pos.detach().cpu().numpy(),
lookat=robot_pos.detach().cpu().numpy(),
) |