jaxsim 0.4.3.dev327__tar.gz → 0.4.3.dev350__tar.gz

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev327
+Version: 0.4.3.dev350
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
 Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev327'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev327')
+__version__ = version = '0.4.3.dev350'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev350')

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/api/joint.py

@@ -53,9 +53,7 @@ def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str
     """
 
     exceptions.raise_value_error_if(
-        condition=jnp.array(
-            [joint_index < 0, joint_index >= model.number_of_joints()]
-        ).any(),
+        condition=joint_index < 0,
         msg="Invalid joint index '{idx}'",
         idx=joint_index,
     )
@@ -123,10 +121,7 @@ def position_limit(
     """
 
     if model.number_of_joints() == 0:
-        s_min = model.kin_dyn_parameters.joint_parameters.position_limits_min
-        s_max = model.kin_dyn_parameters.joint_parameters.position_limits_max
-
-        return jnp.atleast_1d(s_min).astype(float), jnp.atleast_1d(s_max).astype(float)
+        return jnp.empty(0).astype(float), jnp.empty(0).astype(float)
 
     exceptions.raise_value_error_if(
         condition=jnp.array(
@@ -136,8 +131,12 @@ def position_limit(
         idx=joint_index,
     )
 
-    s_min = model.kin_dyn_parameters.joint_parameters.position_limits_min[joint_index]
-    s_max = model.kin_dyn_parameters.joint_parameters.position_limits_max[joint_index]
+    s_min = jnp.atleast_1d(
+        model.kin_dyn_parameters.joint_parameters.position_limits_min
+    )[joint_index]
+    s_max = jnp.atleast_1d(
+        model.kin_dyn_parameters.joint_parameters.position_limits_max
+    )[joint_index]
 
     return s_min.astype(float), s_max.astype(float)
 

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/api/kin_dyn_parameters.py

@@ -438,7 +438,9 @@ class KynDynParameters(JaxsimDataclass):
     # Helpers to update parameters
     # ============================
 
-    def set_link_mass(self, link_index: int, mass: jtp.FloatLike) -> KynDynParameters:
+    def set_link_mass(
+        self, link_index: jtp.IntLike, mass: jtp.FloatLike
+    ) -> KynDynParameters:
         """
         Set the mass of a link.
 
@@ -457,7 +459,7 @@ class KynDynParameters(JaxsimDataclass):
         return self.replace(link_parameters=link_parameters)
 
     def set_link_inertia(
-        self, link_index: int, inertia: jtp.MatrixLike
+        self, link_index: jtp.IntLike, inertia: jtp.MatrixLike
     ) -> KynDynParameters:
         r"""
         Set the inertia tensor of a link.
@@ -593,10 +595,10 @@ class LinkParameters(JaxsimDataclass):
         """
 
         # Extract the link parameters from the 6D spatial inertia.
-        m, L_p_CoM, I = Inertia.to_params(M=M)
+        m, L_p_CoM, I_CoM = Inertia.to_params(M=M)
 
         # Extract only the necessary elements of the inertia tensor.
-        inertia_elements = I[jnp.triu_indices(3)]
+        inertia_elements = I_CoM[jnp.triu_indices(3)]
 
         return LinkParameters(
             index=jnp.array(index).squeeze().astype(int),

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/api/link.py

@@ -4,6 +4,7 @@ from collections.abc import Sequence
 import jax
 import jax.numpy as jnp
 import jax.scipy.linalg
+import numpy as np
 
 import jaxsim.api as js
 import jaxsim.rbda
@@ -54,9 +55,7 @@ def idx_to_name(model: js.model.JaxSimModel, *, link_index: jtp.IntLike) -> str:
     """
 
     exceptions.raise_value_error_if(
-        condition=jnp.array(
-            [link_index < 0, link_index >= model.number_of_links()]
-        ).any(),
+        condition=link_index < 0,
         msg="Invalid link index '{idx}'",
         idx=link_index,
     )
@@ -98,7 +97,7 @@ def idxs_to_names(
         The names of the links.
     """
 
-    return tuple(idx_to_name(model=model, link_index=idx) for idx in link_indices)
+    return tuple(np.array(model.kin_dyn_parameters.link_names)[list(link_indices)])
 
 
 # =========

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/api/model.py

@@ -304,7 +304,7 @@ class JaxSimModel(JaxsimDataclass):
 
         return self.model_name
 
-    def number_of_links(self) -> jtp.Int:
+    def number_of_links(self) -> int:
         """
         Return the number of links in the model.
 
@@ -317,7 +317,7 @@ class JaxSimModel(JaxsimDataclass):
 
         return self.kin_dyn_parameters.number_of_links()
 
-    def number_of_joints(self) -> jtp.Int:
+    def number_of_joints(self) -> int:
         """
         Return the number of joints in the model.
 
@@ -419,7 +419,7 @@ class JaxSimModel(JaxsimDataclass):
 def reduce(
     model: JaxSimModel,
     considered_joints: tuple[str, ...],
-    locked_joint_positions: dict[str, jtp.Float] | None = None,
+    locked_joint_positions: dict[str, jtp.FloatLike] | None = None,
 ) -> JaxSimModel:
     """
     Reduce the model by lumping together the links connected by removed joints.
@@ -1038,12 +1038,7 @@ def forward_dynamics_aba(
     C_v̇_WB = to_active(
         W_v̇_WB=W_v̇_WB,
         W_H_C=W_H_C,
-        W_v_WB=jnp.hstack(
-            [
-                data.state.physics_model.base_linear_velocity,
-                data.state.physics_model.base_angular_velocity,
-            ]
-        ),
+        W_v_WB=W_v_WB,
         W_v_WC=W_v_WC,
     )
 
@@ -2274,16 +2269,12 @@ def step(
             # Raise runtime error for not supported case in which Rigid contacts and
             # Baumgarte stabilization are enabled and used with ForwardEuler integrator.
             jaxsim.exceptions.raise_runtime_error_if(
-                condition=jnp.logical_and(
-                    isinstance(
-                        integrator,
-                        jaxsim.integrators.fixed_step.ForwardEuler
-                        | jaxsim.integrators.fixed_step.ForwardEulerSO3,
-                    ),
-                    jnp.array(
-                        [data_tf.contacts_params.K, data_tf.contacts_params.D]
-                    ).any(),
-                ),
+                condition=isinstance(
+                    integrator,
+                    jaxsim.integrators.fixed_step.ForwardEuler
+                    | jaxsim.integrators.fixed_step.ForwardEulerSO3,
+                )
+                & ((data_tf.contacts_params.K > 0) | (data_tf.contacts_params.D > 0)),
                 msg="Baumgarte stabilization is not supported with ForwardEuler integrators",
             )
 

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/api/references.py

@@ -503,7 +503,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
         ]
 
         exceptions.raise_value_error_if(
-            condition=jnp.logical_not(data.valid(model=model)),
+            condition=~data.valid(model=model),
             msg="The provided data is not valid for the model",
         )
         W_H_Fi = jax.vmap(

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/integrators/common.py

@@ -319,7 +319,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         f = lambda x, t: self.dynamics(x=x, t=t, **kwargs)
 
         # Initialize the carry of the for loop with the stacked kᵢ vectors.
-        carry0 = jax.tree_map(
+        carry0 = jax.tree.map(
             lambda l: jnp.zeros((c.size, *l.shape), dtype=l.dtype), x0
         )
 
@@ -507,7 +507,7 @@ class ExplicitRungeKuttaSO3Mixin:
 
         # We assume that the initial quaternion is already unary.
         exceptions.raise_runtime_error_if(
-            condition=jnp.logical_not(jnp.allclose(W_Q_B_t0.dot(W_Q_B_t0), 1.0)),
+            condition=~jnp.allclose(W_Q_B_t0.dot(W_Q_B_t0), 1.0),
             msg="The SO(3) integrator received a quaternion at t0 that is not unary.",
         )
 

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/integrators/variable_step.py

@@ -152,7 +152,7 @@ def compute_pytree_scale(
     """
 
     # Consider a zero second pytree, if not given.
-    x2 = jax.tree.map(lambda l: jnp.zeros_like(l), x1) if x2 is None else x2
+    x2 = jax.tree.map(jnp.zeros_like, x1) if x2 is None else x2
 
     # Compute the scaling factors of the initial state and its derivative.
     compute_scale = lambda l1, l2: atol + jnp.maximum(jnp.abs(l1), jnp.abs(l2)) * rtol
@@ -199,9 +199,7 @@ def local_error_estimation(
 
     # Consider a zero estimated final state, if not given.
     xf_estimate = (
-        jax.tree.map(lambda l: jnp.zeros_like(l), xf)
-        if xf_estimate is None
-        else xf_estimate
+        jax.tree.map(jnp.zeros_like, xf) if xf_estimate is None else xf_estimate
     )
 
     # Estimate the error.
@@ -483,14 +481,10 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
                 metadata_next,
                 discarded_steps,
             ) = jax.lax.cond(
-                pred=jnp.array(
-                    [
-                        discarded_steps >= self.max_step_rejections,
-                        local_error <= 1.0,
-                        Δt_next < self.dt_min,
-                        integrator_init,
-                    ]
-                ).any(),
+                pred=discarded_steps
+                >= self.max_step_rejections | local_error
+                <= 1.0 | Δt_next
+                < self.dt_min | integrator_init,
                 true_fun=accept_step,
                 false_fun=reject_step,
             )

{jaxsim-0.4.3.dev327 → jaxsim-0.4.3.dev350}/src/jaxsim/mujoco/loaders.py

@@ -1,6 +1,3 @@
-from __future__ import annotations
-
-import dataclasses
 import pathlib
 import tempfile
 import warnings
@@ -9,10 +6,14 @@ from typing import Any
 
 import mujoco as mj
 import numpy as np
-import numpy.typing as npt
 import rod.urdf.exporter
 from lxml import etree as ET
-from scipy.spatial.transform import Rotation
+
+from .utils import MujocoCamera
+
+MujocoCameraType = (
+    MujocoCamera | Sequence[MujocoCamera] | dict[str, str] | Sequence[dict[str, str]]
+)
 
 
 def load_rod_model(
@@ -167,12 +168,7 @@ class RodModelToMjcf:
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
         heightmap_samples_xy: tuple[int, int] = (101, 101),
-        cameras: (
-            MujocoCamera
-            | Sequence[MujocoCamera]
-            | dict[str, str]
-            | Sequence[dict[str, str]]
-        ) = (),
+        cameras: MujocoCameraType = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a ROD model to a Mujoco MJCF string.
@@ -533,12 +529,7 @@ class UrdfToMjcf:
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
-        cameras: (
-            MujocoCamera
-            | Sequence[MujocoCamera]
-            | dict[str, str]
-            | Sequence[dict[str, str]]
-        ) = (),
+        cameras: MujocoCameraType = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a URDF file to a Mujoco MJCF string.
@@ -580,12 +571,7 @@ class SdfToMjcf:
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
-        cameras: (
-            MujocoCamera
-            | Sequence[MujocoCamera]
-            | dict[str, str]
-            | Sequence[dict[str, str]]
-        ) = (),
+        cameras: MujocoCameraType = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a SDF file to a Mujoco MJCF string.
@@ -617,118 +603,3 @@ class SdfToMjcf:
             heightmap=heightmap,
             cameras=cameras,
         )
-
-
-@dataclasses.dataclass
-class MujocoCamera:
-    """
-    Helper class storing parameters of a Mujoco camera.
-
-    Refer to the official documentation for more details:
-    https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-camera
-    """
-
-    mode: str = "fixed"
-
-    target: str | None = None
-    fovy: str = "45"
-    pos: str = "0 0 0"
-
-    quat: str | None = None
-    axisangle: str | None = None
-    xyaxes: str | None = None
-    zaxis: str | None = None
-    euler: str | None = None
-
-    name: str | None = None
-
-    @classmethod
-    def build(cls, **kwargs) -> MujocoCamera:
-
-        if not all(isinstance(value, str) for value in kwargs.values()):
-            raise ValueError(f"Values must be strings: {kwargs}")
-
-        return cls(**kwargs)
-
-    @staticmethod
-    def build_from_target_view(
-        camera_name: str,
-        lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
-        distance: float | int | npt.NDArray = 3,
-        azimut: float | int | npt.NDArray = 90,
-        elevation: float | int | npt.NDArray = -45,
-        fovy: float | int | npt.NDArray = 45,
-        degrees: bool = True,
-        **kwargs,
-    ) -> MujocoCamera:
-        """
-        Create a custom camera that looks at a target point.
-
-        Note:
-            The choice of the parameters is easier if we imagine to consider a target
-            frame `T` whose origin is located over the lookat point and having the same
-            orientation of the world frame `W`. We also introduce a camera frame `C`
-            whose origin is located over the lower-left corner of the image, and having
-            the x-axis pointing right and the y-axis pointing up in image coordinates.
-            The camera renders what it sees in the -z direction of frame `C`.
-
-        Args:
-            camera_name: The name of the camera.
-            lookat: The target point to look at (origin of `T`).
-            distance:
-                The distance from the target point (displacement between the origins
-                of `T` and `C`).
-            azimut:
-                The rotation around z of the camera. With an angle of 0, the camera
-                would loot at the target point towards the positive x-axis of `T`.
-            elevation:
-                The rotation around the x-axis of the camera frame `C`. Note that if
-                you want to lift the view angle, the elevation is negative.
-            fovy: The field of view of the camera.
-            degrees: Whether the angles are in degrees or radians.
-            **kwargs: Additional camera parameters.
-
-        Returns:
-            The custom camera.
-        """
-
-        # Start from a frame whose origin is located over the lookat point.
-        # We initialize a -90 degrees rotation around the z-axis because due to
-        # the default camera coordinate system (x pointing right, y pointing up).
-        W_H_C = np.eye(4)
-        W_H_C[0:3, 3] = np.array(lookat)
-        W_H_C[0:3, 0:3] = Rotation.from_euler(
-            seq="ZX", angles=[-90, 90], degrees=True
-        ).as_matrix()
-
-        # Process the azimut.
-        R_az = Rotation.from_euler(seq="Y", angles=azimut, degrees=degrees).as_matrix()
-        W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_az
-
-        # Process elevation.
-        R_el = Rotation.from_euler(
-            seq="X", angles=elevation, degrees=degrees
-        ).as_matrix()
-        W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_el
-
-        # Process distance.
-        tf_distance = np.eye(4)
-        tf_distance[2, 3] = distance
-        W_H_C = W_H_C @ tf_distance
-
-        # Extract the position and the quaternion.
-        p = W_H_C[0:3, 3]
-        Q = Rotation.from_matrix(W_H_C[0:3, 0:3]).as_quat(scalar_first=True)
-
-        return MujocoCamera.build(
-            name=camera_name,
-            mode="fixed",
-            fovy=f"{fovy if degrees else np.rad2deg(fovy)}",
-            pos=" ".join(p.astype(str).tolist()),
-            quat=" ".join(Q.astype(str).tolist()),
-            **kwargs,
-        )
-
-    def asdict(self) -> dict[str, str]:
-
-        return {k: v for k, v in dataclasses.asdict(self).items() if v is not None}

jaxsim-0.4.3.dev350/src/jaxsim/mujoco/utils.py

@@ -0,0 +1,223 @@
+from __future__ import annotations
+
+import dataclasses
+from collections.abc import Sequence
+
+import mujoco as mj
+import numpy as np
+import numpy.typing as npt
+from scipy.spatial.transform import Rotation
+
+from .model import MujocoModelHelper
+
+
+def mujoco_data_from_jaxsim(
+    mujoco_model: mj.MjModel,
+    jaxsim_model,
+    jaxsim_data,
+    mujoco_data: mj.MjData | None = None,
+    update_removed_joints: bool = True,
+) -> mj.MjData:
+    """
+    Create a Mujoco data object from a JaxSim model and data objects.
+
+    Args:
+        mujoco_model: The Mujoco model object corresponding to the JaxSim model.
+        jaxsim_model: The JaxSim model object from which the Mujoco model was created.
+        jaxsim_data: The JaxSim data object containing the state of the model.
+        mujoco_data: An optional Mujoco data object. If None, a new one will be created.
+        update_removed_joints:
+            If True, the positions of the joints that have been removed during the
+            model reduction process will be set to their initial values.
+
+    Returns:
+        The Mujoco data object containing the state of the JaxSim model.
+
+    Note:
+        This method is useful to initialize a Mujoco data object used for visualization
+        with the state of a JaxSim model. In particular, this function takes care of
+        initializing the positions of the joints that have been removed during the
+        model reduction process. After the initial creation of the Mujoco data object,
+        it's faster to update the state using an external MujocoModelHelper object.
+    """
+
+    # The package `jaxsim.mujoco` is supposed to be jax-independent.
+    # We import all the JaxSim resources privately.
+    import jaxsim.api as js
+
+    if not isinstance(jaxsim_model, js.model.JaxSimModel):
+        raise ValueError("The `jaxsim_model` argument must be a JaxSimModel object.")
+
+    if not isinstance(jaxsim_data, js.data.JaxSimModelData):
+        raise ValueError("The `jaxsim_data` argument must be a JaxSimModelData object.")
+
+    # Create the helper to operate on the Mujoco model and data.
+    model_helper = MujocoModelHelper(model=mujoco_model, data=mujoco_data)
+
+    # If the model is fixed-base, the Mujoco model won't have the joint corresponding
+    # to the floating base, and the helper would raise an exception.
+    if jaxsim_model.floating_base():
+
+        # Set the model position.
+        model_helper.set_base_position(position=np.array(jaxsim_data.base_position()))
+
+        # Set the model orientation.
+        model_helper.set_base_orientation(
+            orientation=np.array(jaxsim_data.base_orientation())
+        )
+
+    # Set the joint positions.
+    if jaxsim_model.dofs() > 0:
+
+        model_helper.set_joint_positions(
+            joint_names=list(jaxsim_model.joint_names()),
+            positions=np.array(
+                jaxsim_data.joint_positions(
+                    model=jaxsim_model, joint_names=jaxsim_model.joint_names()
+                )
+            ),
+        )
+
+    # Updating these joints is not necessary after the first time.
+    # Users can disable this update after initialization.
+    if update_removed_joints:
+
+        # Create a dictionary with the joints that have been removed for various reasons
+        # (like link lumping due to model reduction).
+        joints_removed_dict = {
+            j.name: j
+            for j in jaxsim_model.description._joints_removed
+            if j.name not in set(jaxsim_model.joint_names())
+        }
+
+        # Set the positions of the removed joints.
+        _ = [
+            model_helper.set_joint_position(
+                position=joints_removed_dict[joint_name].initial_position,
+                joint_name=joint_name,
+            )
+            # Select all original joint that have been removed from the JaxSim model
+            # that are still present in the Mujoco model.
+            for joint_name in joints_removed_dict
+            if joint_name in model_helper.joint_names()
+        ]
+
+    # Return the mujoco data with updated kinematics.
+    mj.mj_forward(mujoco_model, model_helper.data)
+
+    return model_helper.data
+
+
+@dataclasses.dataclass
+class MujocoCamera:
+    """
+    Helper class storing parameters of a Mujoco camera.
+
+    Refer to the official documentation for more details:
+    https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-camera
+    """
+
+    mode: str = "fixed"
+
+    target: str | None = None
+    fovy: str = "45"
+    pos: str = "0 0 0"
+
+    quat: str | None = None
+    axisangle: str | None = None
+    xyaxes: str | None = None
+    zaxis: str | None = None
+    euler: str | None = None
+
+    name: str | None = None
+
+    @classmethod
+    def build(cls, **kwargs) -> MujocoCamera:
+
+        if not all(isinstance(value, str) for value in kwargs.values()):
+            raise ValueError(f"Values must be strings: {kwargs}")
+
+        return cls(**kwargs)
+
+    @staticmethod
+    def build_from_target_view(
+        camera_name: str,
+        lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
+        distance: float | int | npt.NDArray = 3,
+        azimut: float | int | npt.NDArray = 90,
+        elevation: float | int | npt.NDArray = -45,
+        fovy: float | int | npt.NDArray = 45,
+        degrees: bool = True,
+        **kwargs,
+    ) -> MujocoCamera:
+        """
+        Create a custom camera that looks at a target point.
+
+        Note:
+            The choice of the parameters is easier if we imagine to consider a target
+            frame `T` whose origin is located over the lookat point and having the same
+            orientation of the world frame `W`. We also introduce a camera frame `C`
+            whose origin is located over the lower-left corner of the image, and having
+            the x-axis pointing right and the y-axis pointing up in image coordinates.
+            The camera renders what it sees in the -z direction of frame `C`.
+
+        Args:
+            camera_name: The name of the camera.
+            lookat: The target point to look at (origin of `T`).
+            distance:
+                The distance from the target point (displacement between the origins
+                of `T` and `C`).
+            azimut:
+                The rotation around z of the camera. With an angle of 0, the camera
+                would loot at the target point towards the positive x-axis of `T`.
+            elevation:
+                The rotation around the x-axis of the camera frame `C`. Note that if
+                you want to lift the view angle, the elevation is negative.
+            fovy: The field of view of the camera.
+            degrees: Whether the angles are in degrees or radians.
+            **kwargs: Additional camera parameters.
+
+        Returns:
+            The custom camera.
+        """
+
+        # Start from a frame whose origin is located over the lookat point.
+        # We initialize a -90 degrees rotation around the z-axis because due to
+        # the default camera coordinate system (x pointing right, y pointing up).
+        W_H_C = np.eye(4)
+        W_H_C[0:3, 3] = np.array(lookat)
+        W_H_C[0:3, 0:3] = Rotation.from_euler(
+            seq="ZX", angles=[-90, 90], degrees=True
+        ).as_matrix()
+
+        # Process the azimut.
+        R_az = Rotation.from_euler(seq="Y", angles=azimut, degrees=degrees).as_matrix()
+        W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_az
+
+        # Process elevation.
+        R_el = Rotation.from_euler(
+            seq="X", angles=elevation, degrees=degrees
+        ).as_matrix()
+        W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_el
+
+        # Process distance.
+        tf_distance = np.eye(4)
+        tf_distance[2, 3] = distance
+        W_H_C = W_H_C @ tf_distance
+
+        # Extract the position and the quaternion.
+        p = W_H_C[0:3, 3]
+        Q = Rotation.from_matrix(W_H_C[0:3, 0:3]).as_quat(scalar_first=True)
+
+        return MujocoCamera.build(
+            name=camera_name,
+            mode="fixed",
+            fovy=f"{fovy if degrees else np.rad2deg(fovy)}",
+            pos=" ".join(p.astype(str).tolist()),
+            quat=" ".join(Q.astype(str).tolist()),
+            **kwargs,
+        )
+
+    def asdict(self) -> dict[str, str]:
+
+        return {k: v for k, v in dataclasses.asdict(self).items() if v is not None}