jaxsim 0.2.dev425__tar.gz → 0.2.dev431__tar.gz

{jaxsim-0.2.dev425 → jaxsim-0.2.dev431}/PKG-INFO

@@ -1,12 +1,13 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev425
-Summary: A physics engine in reduced coordinates implemented with JAX.
+Version: 0.2.dev431
+Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it
 License: BSD
 Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
+Project-URL: Documentation, https://jaxsim.readthedocs.io
 Project-URL: Source, https://github.com/ami-iit/jaxsim
 Project-URL: Tracker, https://github.com/ami-iit/jaxsim/issues
 Keywords: physics,physics engine,jax,rigid body dynamics,featherstone,reinforcement learning,robot,robotics,sdf,urdf

{jaxsim-0.2.dev425 → jaxsim-0.2.dev431}/environment.yml

@@ -2,20 +2,25 @@ name: jaxsim
 channels:
   - conda-forge
 dependencies:
+  # ===========================
   # Dependencies from setup.cfg
+  # ===========================
   - python=3.11
   - coloredlogs
   - jax >= 0.4.13
-  - jaxlib
+  - jaxlib >= 0.4.13
   - jaxlie >= 1.3.0
   - jax-dataclasses >= 1.4.0
   - pptree
   - rod >= 0.2.0
   - typing_extensions # python<3.12
+  # ====================================
   # Optional dependencies from setup.cfg
+  # ====================================
   # [style]
   - black == 24.*
   - isort
+  - pre-commit
   # [testing]
   - idyntree
   - pytest
@@ -25,16 +30,15 @@ dependencies:
   - lxml
   - mediapy
   - mujoco >= 3.0.0
-  # System dependencies to run the tests
-  - gz-sim7
-  # Other packages
-  - ipython
+  # ==========================
   # Documentation dependencies
+  # ==========================
   - cachecontrol
   - enum_tools
   - filecache
   - filelock
   - jinja2
+  - pip
   - sphinx
   - sphinx-autodoc-typehints
   - sphinx-copybutton
@@ -45,4 +49,10 @@ dependencies:
   - sphinx_rtd_theme
   - sphinx-book-theme
   - sphinx-toolbox
-  - pip
+  # ========================================
+  # Other dependencies for GitHub Codespaces
+  # ========================================
+  # System dependencies to run the tests
+  - gz-sim7
+  # Other packages
+  - ipython

{jaxsim-0.2.dev425 → jaxsim-0.2.dev431}/setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = jaxsim
-description = A physics engine in reduced coordinates implemented with JAX.
+description = A differentiable physics engine and multibody dynamics library for control and robot learning.
 long_description = file: README.md
 long_description_content_type = text/markdown
 author = Diego Ferigo
@@ -11,6 +11,7 @@ platforms = any
 url = https://github.com/ami-iit/jaxsim
 project_urls = 
 	Changelog = https://github.com/ami-iit/jaxsim/releases
+	Documentation = https://jaxsim.readthedocs.io
 	Source = https://github.com/ami-iit/jaxsim
 	Tracker = https://github.com/ami-iit/jaxsim/issues
 keywords = 

{jaxsim-0.2.dev425 → jaxsim-0.2.dev431}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.dev425'
-__version_tuple__ = version_tuple = (0, 2, 'dev425')
+__version__ = version = '0.2.dev431'
+__version_tuple__ = version_tuple = (0, 2, 'dev431')

{jaxsim-0.2.dev425 → jaxsim-0.2.dev431}/src/jaxsim/mujoco/loaders.py

@@ -1,3 +1,4 @@
+import dataclasses
 import pathlib
 import tempfile
 import warnings
@@ -159,6 +160,7 @@ class RodModelToMjcf:
         considered_joints: list[str] | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
+        cameras: list[dict[str, str]] | dict[str, str] = None,
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a ROD model to a Mujoco MJCF string.
@@ -166,6 +168,9 @@ class RodModelToMjcf:
         Args:
             rod_model: The ROD model to convert.
             considered_joints: The list of joint names to consider in the conversion.
+            plane_normal: The normal vector of the plane.
+            heightmap: Whether to generate a heightmap.
+            cameras: The list of cameras to add to the scene.
 
         Returns:
             tuple: A tuple containing the MJCF string and the assets dictionary.
@@ -470,6 +475,14 @@ class RodModelToMjcf:
             fovy="60",
         )
 
+        # Add user-defined camera
+        cameras = cameras if cameras is not None else {}
+        for camera in cameras if isinstance(cameras, list) else [cameras]:
+            mj_camera = MujocoCamera.build(**camera)
+            _ = ET.SubElement(
+                worldbody_element, "camera", dataclasses.asdict(mj_camera)
+            )
+
         # ------------------------------------------------
         # Add a light following the  CoM of the first link
         # ------------------------------------------------
@@ -504,6 +517,7 @@ class UrdfToMjcf:
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
+        cameras: list[dict[str, str]] | dict[str, str] = None,
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a URDF file to a Mujoco MJCF string.
@@ -512,6 +526,9 @@ class UrdfToMjcf:
             urdf: The URDF file to convert.
             considered_joints: The list of joint names to consider in the conversion.
             model_name: The name of the model to convert.
+            plane_normal: The normal vector of the plane.
+            heightmap: Whether to generate a heightmap.
+            cameras: The list of cameras to add to the scene.
 
         Returns:
             tuple: A tuple containing the MJCF string and the assets dictionary.
@@ -530,6 +547,7 @@ class UrdfToMjcf:
             considered_joints=considered_joints,
             plane_normal=plane_normal,
             heightmap=heightmap,
+            cameras=cameras,
         )
 
 
@@ -541,6 +559,7 @@ class SdfToMjcf:
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
+        cameras: list[dict[str, str]] | dict[str, str] = None,
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a SDF file to a Mujoco MJCF string.
@@ -549,6 +568,9 @@ class SdfToMjcf:
             sdf: The SDF file to convert.
             considered_joints: The list of joint names to consider in the conversion.
             model_name: The name of the model to convert.
+            plane_normal: The normal vector of the plane.
+            heightmap: Whether to generate a heightmap.
+            cameras: The list of cameras to add to the scene.
 
         Returns:
             tuple: A tuple containing the MJCF string and the assets dictionary.
@@ -567,4 +589,27 @@ class SdfToMjcf:
             considered_joints=considered_joints,
             plane_normal=plane_normal,
             heightmap=heightmap,
+            cameras=cameras,
         )
+
+
+@dataclasses.dataclass
+class MujocoCamera:
+    name: str
+    mode: str
+    pos: str
+    xyaxes: str
+    fovy: str
+
+    @classmethod
+    def build(cls, **kwargs):
+        if not all(isinstance(value, str) for value in kwargs.values()):
+            raise ValueError("Values must be strings")
+
+        if len(kwargs["pos"].split()) != 3:
+            raise ValueError("pos must have three values separated by space")
+
+        if len(kwargs["xyaxes"].split()) != 6:
+            raise ValueError("xyaxes must have six values separated by space")
+
+        return cls(**kwargs)

{jaxsim-0.2.dev425 → jaxsim-0.2.dev431}/src/jaxsim.egg-info/PKG-INFO

@@ -1,12 +1,13 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev425
-Summary: A physics engine in reduced coordinates implemented with JAX.
+Version: 0.2.dev431
+Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it
 License: BSD
 Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
+Project-URL: Documentation, https://jaxsim.readthedocs.io
 Project-URL: Source, https://github.com/ami-iit/jaxsim
 Project-URL: Tracker, https://github.com/ami-iit/jaxsim/issues
 Keywords: physics,physics engine,jax,rigid body dynamics,featherstone,reinforcement learning,robot,robotics,sdf,urdf