jaxsim 0.2.dev428__py3-none-any.whl → 0.2.dev435__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.dev428'
-__version_tuple__ = version_tuple = (0, 2, 'dev428')
+__version__ = version = '0.2.dev435'
+__version_tuple__ = version_tuple = (0, 2, 'dev435')

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.dev428.dist-info → jaxsim-0.2.dev435.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev428
+Version: 0.2.dev435
 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

{jaxsim-0.2.dev428.dist-info → jaxsim-0.2.dev435.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=1mo3HxrVkFrROneeiBN6Fz-k5UgdU7xlKMwBqx6ub4Q,423
+jaxsim/_version.py,sha256=rUboBlbZMDawXjrlvgG4MouhFWI6cvGpLnbn2W6ms1I,423
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=MeuOCQtLAr-sPkvB_sU8FtwGNRirz1auCwIgRC-QZl8,646
 jaxsim/api/__init__.py,sha256=fNTCPUeDfOAizRd4RsW3Epv0sLTu0KJGoFRSEsi75VM,162
@@ -29,7 +29,7 @@ jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
 jaxsim/math/transform.py,sha256=boeuN8df4Yd9NvS64g-xUYoNqG91YafYLam4iITFJVg,2917
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=FwEZHdRZoxOqXPauQUojP5mjknMaTb386V2BSiAoz5Q,19323
+jaxsim/mujoco/loaders.py,sha256=8_2jB6DjGyFGPQS6mTs_1JH37Wd6mSiWP8rlNTuB6Uo,21029
 jaxsim/mujoco/model.py,sha256=5-4KTbEbU19zjrSuvUVdLo3noWxTvlCNsFIs3rQTNDY,13506
 jaxsim/mujoco/visualizer.py,sha256=YlteqcCbeB1B6saAHKBz1IJad3N5Rp163reZrzKLAys,5065
 jaxsim/parsers/__init__.py,sha256=sonYi-bBWAoB04kp1mxT4uIORxjb7SdZ0ukGPmVx98Y,44
@@ -57,8 +57,8 @@ jaxsim/utils/__init__.py,sha256=tnQq1_CavdfeKaLYt3pmO7Jk4MU2RwwQU_qICkjyoTY,197
 jaxsim/utils/hashless.py,sha256=bFIwKeo9KiWwsY8QM55duEGGQOyyJ4jQyPcuqTLEp5k,297
 jaxsim/utils/jaxsim_dataclass.py,sha256=T8nZolb563mYJD7YvTmYW-z-hpkEiaK3cDbYHqwtqRc,11347
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
-jaxsim-0.2.dev428.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.2.dev428.dist-info/METADATA,sha256=iMVNQHSzzrTQenqwQnlkCMI9xl8yxW7wLNoKVp1nfmY,9778
-jaxsim-0.2.dev428.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.2.dev428.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.dev428.dist-info/RECORD,,
+jaxsim-0.2.dev435.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.2.dev435.dist-info/METADATA,sha256=tUs4Lvi29uqo36Pc8MGDr5lKmvaSBB2aiWjnVOvDrEA,9778
+jaxsim-0.2.dev435.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.2.dev435.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.dev435.dist-info/RECORD,,