Camera Model Library

Portable camera and accessory models for robotics, simulation, and visualization. The library contains 25 camera configurations and 3 accessory configurations, with detailed visual meshes, lightweight convex collisions, URDF and MuJoCo exports, and imaging parameter templates.

Family	Model IDs
360 cameras	x6, x5, x4_air, x4, x3, one_x2, one_x
Wearable cameras	go_ultra, go3s, go3, go2
Action cameras	ace_pro2, ace_pro, ace
Modular cameras	one_rs_4k, one_rs_360, one_rs_1inch, one_rs_1inch360, one_r_4k, one_r_360, one_r_1inch
Stereo and depth cameras	realsense_d435i, realsense_d455, zed2i, oak_d
Accessories	go3_action_pod, go_ultra_action_pod, go2_charging_case

The catalog records manufacturer nominal dimensions, mass, sources, and configuration limits. Exterior details and PBR materials are independently modeled from product references. Fine geometry, mounting interfaces, center of mass, and inertia remain estimates; imaging parameters are uncalibrated.

Use the delivered assets

For another Python project, install the lightweight resolver and download only the model you need:

python -m pip install https://github.com/TToTMooN/camera-assets/releases/download/v0.1.0/camera_assets-0.1.0-py3-none-any.whl
camera-assets fetch go3s --version v0.1.0

from camera_assets import get_model

camera = get_model("go3s", version="v0.1.0")  # Offline lookup.
print(camera.urdf, camera.mjcf, camera.visual)

Package usage covers shared caches, local checkouts, pinned versions, integrity checks, and calibration handling. Each release also provides per-model ZIPs for applications that use other languages.

Copy the entire models/<id>/ folder into your project and preserve its relative paths. model.json identifies the visual, URDF, MJCF, and sensor manifest files. The GLB embeds its visual materials and textures. URDF and MJCF provide geometry, nominal mass, estimated inertia, and fixed placement references.

For example, GO 3S includes a GLB, URDF, MJCF, and sensor manifest.

Create and calibrate imaging sensors in your simulator separately. The simulation guide covers Isaac Sim, MuJoCo, and Gazebo, including optical frames, intrinsics, distortion, stereo/depth, and timing. Camera bodies and accessories are separate assets; pods and cases are supplied closed or folded, and modular camera configurations are rigid assemblies.

Browse locally

Run from the repository root with Python 3.11 or later:

git clone https://github.com/TToTMooN/camera-assets.git
cd camera-assets
python -m venv .venv
source .venv/bin/activate
pip install -r requirements.txt
python scripts/viewer.py --list
python scripts/viewer.py --model go3s

Open localhost:8080. Replace go3s with any model ID. The viewer exposes visual meshes, collision geometry, and placement frames.

Model layout

Each models/<id>/ folder is self-contained:

Path	Contents
model.json	Metadata and entry-point paths
config/<id>.json	Mechanical and geometry parameters
config/sensors.json	Per-imager calibration/mode templates, emitters, derived outputs, and backend records
assets/meshes/<id>_visual.glb	Visual model with embedded PBR materials and textures
assets/meshes/<id>_visual.obj and .mtl	Combined visual geometry and colors
assets/meshes/visual/	Material-separated visual meshes used by URDF/MJCF
assets/meshes/collision/	Convex collision meshes
assets/visual_manifest.json	Visual part and material mapping
urdf/<id>.urdf	Mechanical model and fixed reference frames
mjcf/<id>.xml	Default fixed mounted MuJoCo export
preview/studio_hero.png, studio_back.png, studio_render.json	GLB renders and their source hash/settings
docs/validation.json	Geometry validation results

Mesh and simulator lengths are meters; mass is kilograms. The catalog stores mechanical dimensions in millimeters. URDF/MJCF body axes are X depth, Y width, and Z height, with a bottom placement origin. GLB is Y-up. Lens surface frames are geometric references, and require measured optical poses for imaging.

Validate

pip install -r requirements-sim.txt
python scripts/validate.py --model all --no-write
python scripts/sensor_manifest.py --model all --check
python -m unittest discover -s tests -v

Replace all with a model ID to check one asset. Tests cover geometry, portable paths, sensor-manifest structure, and MuJoCo compilation and contact. Schema validity does not certify optical calibration or a working imaging backend. --require-calibrated intentionally fails for the shipped uncalibrated cameras.

Regenerate assets

The delivered assets can be used without rebuilding. Mechanical source parameters live in catalog/cameras.json; exterior details live in scripts/appearance/. After changing a procedural model's source, run:

python scripts/build_assets.py --model go3s
python scripts/validate.py --model go3s

Builds refresh the fixed mounted MJCF and create missing sensor templates; existing calibration files are preserved. For a free body, run python scripts/export_mjcf.py --model go3s --free after building.

Studio rendering uses a separate Python 3.13 environment:

python3.13 -m venv .venv-blender
.venv-blender/bin/pip install -r requirements-blender.txt
.venv-blender/bin/python scripts/render_studio.py --model go3s --views hero back --size 900 --samples 48
python scripts/make_catalog_preview.py

After changing geometry, rerender its previews before composing the catalog; the composer verifies each view against the current GLB hash. Use --model all to build or render every configuration. make_catalog_preview.py --software produces an optional geometry overview at a common physical scale.

X5 has a separate Blender source workflow in scripts/x5/:

.venv-blender/bin/python scripts/x5/build_model.py
python scripts/x5/build_urdf.py
python scripts/build_assets.py --model x5

Its editable source is x5_source.blend. The generic builder retains the delivered X5 visual. Rerender after rebuilding its source, as for other models.

Geometry and material notes describe exterior features, previews, and accuracy limits. Source notes document mechanical references and specification discrepancies.

MIT license. Independent models; not affiliated with the manufacturers.