unisim.backend.genesis.playback.camera_pose_matrix_z_up

unisim.backend.genesis.playback.camera_pose_matrix_z_up(pos, lookat)[source]

Build the 4x4 camera-to-world matrix for a Z-up world.

The interactive viewer’s set_camera_pose(pos, lookat) reuses the viewer’s current _camera_up, which genesis initializes from its own default camera pose — a tilted vector, not world Z-up (#1396). Passing the full pose= matrix bypasses that polluted state entirely.

Parameters:
Return type:

ndarray