feat(simulate): configurable camera id

configs/simulation/default.yaml

@@ -18,3 +18,5 @@ morphology_override: null
 record_video: false
 # When null, video is saved in a per-model evaluation folder alongside the model.
 video_output_path: null
+# Camera ID to use for video recording (1 is usually the close-up camera)
+camera_id: 1

scripts/simulate.py

@@ -148,6 +148,7 @@ def main(dict_cfg: DictConfig) -> None:
             action_high=action_high,
             action_mask=action_mask,
             output_path=output_path,
+            camera_id=sim_cfg.camera_id,
         )
 
         save_evaluation_metadata(

src/brittle_star_project/configs/config_simulation.py

@@ -24,3 +24,5 @@ class SimulationSettings:
     record_video: bool = False
     # When None, video is saved in a per-model evaluation folder alongside the model.
     video_output_path: Optional[str] = None
+    # Camera ID to use for video recording (1 is usually the close-up camera)
+    camera_id: int = 1

src/brittle_star_project/evaluation/video.py

@@ -62,6 +62,7 @@ def record_episode(
     action_high: np.ndarray | None,
     action_mask: np.ndarray | None = None,
     output_path: Path,
+    camera_id: int = 1,
     fps: int = 60,
     width: int = 640,
     height: int = 480,
@@ -77,6 +78,7 @@ def record_episode(
         action_high: Maximum action values.
         action_mask: Boolean mask for the actions.
         output_path: Where to save the .mp4 file.
+        camera_id: Camera index to use for rendering (1 is usually close-up).
         fps: Frames per second for the video.
         width: Video width.
         height: Video height.
@@ -94,8 +96,6 @@ def record_episode(
     model = state.mj_model
     data = state.mj_data
 
-    # Use the first camera defined in the environment config, or default to 0
-    camera_id = env._config.camera_ids[0] if env._config.camera_ids else 0
     renderer = mujoco.Renderer(model, width=width, height=height)
 
     ep_return = 0.0