# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Deprecated: ViewportCameraController compatibility shim.
Camera tracking is now built into :class:`~isaaclab_visualizers.kit.KitVisualizer`.
Configure ``eye``, ``lookat``, ``origin_type``, and ``origin_track_path`` directly on
:class:`~isaaclab_visualizers.kit.KitVisualizerCfg` and add it to
:attr:`~isaaclab.sim.SimulationCfg.visualizer_cfgs`.
"""
from __future__ import annotations
import warnings
from typing import TYPE_CHECKING
import numpy as np
import torch
if TYPE_CHECKING:
from isaaclab.envs import ViewerCfg
def _warn_method(name: str) -> None:
warnings.warn(
f"ViewportCameraController.{name}() is deprecated. "
"Set cfg fields (origin_type, origin_track_path, eye, lookat) on KitVisualizerCfg and "
"call visualizer.reapply_origin() to update at runtime.",
DeprecationWarning,
stacklevel=3,
)
[docs]
class ViewportCameraController:
"""Deprecated compatibility shim for :class:`ViewportCameraController`.
.. deprecated::
:class:`ViewportCameraController` has been removed. Camera tracking is now built into
:class:`~isaaclab_visualizers.kit.KitVisualizer`. Set ``origin_type``,
``origin_track_path``, ``eye``, and ``lookat`` directly on
:class:`~isaaclab_visualizers.kit.KitVisualizerCfg` and pass it to
:attr:`~isaaclab.sim.SimulationCfg.visualizer_cfgs`.
"""
[docs]
def __init__(self, env: object, cfg: ViewerCfg):
warnings.warn(
"ViewportCameraController is deprecated and has been removed. "
"Camera tracking is now built into KitVisualizer — configure "
"origin_type, origin_track_path, eye, and lookat directly on KitVisualizerCfg "
"and add it to SimulationCfg.visualizer_cfgs.",
DeprecationWarning,
stacklevel=2,
)
self._env = env
self._cfg = cfg
self.default_cam_eye = np.array(getattr(cfg, "eye", (7.5, 7.5, 7.5)), dtype=float)
self.default_cam_lookat = np.array(getattr(cfg, "lookat", (0.0, 0.0, 0.0)), dtype=float)
# ------------------------------------------------------------------
# Properties
# ------------------------------------------------------------------
@property
def cfg(self) -> ViewerCfg:
return self._cfg
# ------------------------------------------------------------------
# Public methods (deprecated forwarding stubs)
# ------------------------------------------------------------------
[docs]
def set_view_env_index(self, env_index: int) -> None:
"""Deprecated. Update :attr:`~KitVisualizerCfg.origin_env_index` on the visualizer instead."""
_warn_method("set_view_env_index")
num_envs = getattr(self._env, "num_envs", None)
if num_envs is not None and not (0 <= env_index < num_envs):
raise ValueError(
f"Out of range value for attribute 'env_index': {env_index}."
f" Expected a value between 0 and {num_envs - 1}."
)
self._cfg.env_index = env_index
for viz in self._get_kit_visualizers():
viz.cfg.origin_env_index = env_index
if getattr(viz.cfg, "origin_type", None) == "env":
viz.reapply_origin()
[docs]
def update_view_to_world(self) -> None:
"""Deprecated. Set ``origin_type='world'`` on :class:`~isaaclab_visualizers.kit.KitVisualizerCfg` instead."""
_warn_method("update_view_to_world")
self._cfg.origin_type = "world"
origin = torch.zeros(3)
for viz in self._get_kit_visualizers():
viz.cfg.origin_type = "world"
eye = (origin + torch.tensor(self.default_cam_eye, dtype=torch.float32)).tolist()
target = (origin + torch.tensor(self.default_cam_lookat, dtype=torch.float32)).tolist()
viz.set_camera_view(tuple(eye), tuple(target))
[docs]
def update_view_to_env(self) -> None:
"""Deprecated. Set ``origin_type='env'`` on :class:`~isaaclab_visualizers.kit.KitVisualizerCfg` instead."""
_warn_method("update_view_to_env")
self._cfg.origin_type = "env"
for viz in self._get_kit_visualizers():
viz.cfg.origin_type = "env"
viz.reapply_origin()
[docs]
def update_view_to_asset_root(self, asset_name: str) -> None:
"""Deprecated. Set ``origin_type='asset'`` and ``origin_track_path`` on
:class:`~isaaclab_visualizers.kit.KitVisualizerCfg` instead."""
_warn_method("update_view_to_asset_root")
self._cfg.asset_name = asset_name
self._cfg.origin_type = "asset_root"
for viz in self._get_kit_visualizers():
viz.cfg.origin_type = "asset"
viz.cfg.origin_track_path = asset_name
viz.reapply_origin()
[docs]
def update_view_to_asset_body(self, asset_name: str, body_name: str) -> None:
"""Deprecated. Set ``origin_type='asset'`` and ``origin_track_path`` on
:class:`~isaaclab_visualizers.kit.KitVisualizerCfg` instead."""
_warn_method("update_view_to_asset_body")
self._cfg.asset_name = asset_name
self._cfg.body_name = body_name
self._cfg.origin_type = "asset_body"
for viz in self._get_kit_visualizers():
viz.cfg.origin_type = "asset"
viz.cfg.origin_track_path = f"{asset_name}/{body_name}"
viz.reapply_origin()
[docs]
def update_view_location(
self,
eye: tuple[float, float, float] | None = None,
lookat: tuple[float, float, float] | None = None,
) -> None:
"""Deprecated. Call :meth:`~isaaclab_visualizers.kit.KitVisualizer.set_camera_view` directly instead."""
_warn_method("update_view_location")
if eye is not None:
self.default_cam_eye = np.asarray(eye, dtype=float)
if lookat is not None:
self.default_cam_lookat = np.asarray(lookat, dtype=float)
for viz in self._get_kit_visualizers():
# Persist relative offsets into the visualizer config so that
# subsequent reapply_origin() calls (e.g. from asset tracking) use
# the updated offsets rather than the stale original values.
viz.cfg.eye = tuple(self.default_cam_eye.tolist())
viz.cfg.lookat = tuple(self.default_cam_lookat.tolist())
# reapply_origin() adds the current world/env/asset origin and pushes
# the result to the viewport, preserving origin-relative behaviour.
viz.reapply_origin()
# ------------------------------------------------------------------
# Private helpers
# ------------------------------------------------------------------
def _get_kit_visualizers(self) -> list:
"""Return active Kit visualizers from the env's sim, if any."""
sim = getattr(self._env, "sim", None)
if sim is None:
return []
return [
v
for v in getattr(sim, "visualizers", [])
if getattr(getattr(v, "cfg", None), "visualizer_type", None) == "kit"
]
