jaxsim 0.6.2.dev273__py3-none-any.whl → 0.6.2.dev275__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/mujoco/utils.py +8 -1
  3. {jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/METADATA +1 -1
  4. {jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/RECORD +7 -7
  5. {jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/WHEEL +0 -0
  6. {jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/licenses/LICENSE +0 -0
  7. {jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/top_level.txt +0 -0
jaxsim/_version.py CHANGED
@@ -17,5 +17,5 @@ __version__: str
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  __version_tuple__: VERSION_TUPLE
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  version_tuple: VERSION_TUPLE
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- __version__ = version = '0.6.2.dev273'
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- __version_tuple__ = version_tuple = (0, 6, 2, 'dev273')
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+ __version__ = version = '0.6.2.dev275'
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+ __version_tuple__ = version_tuple = (0, 6, 2, 'dev275')
jaxsim/mujoco/utils.py CHANGED
@@ -145,6 +145,7 @@ class MujocoCamera:
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  @staticmethod
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  def build_from_target_view(
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  camera_name: str,
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+ mode: str = "fixed",
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  lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
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  distance: float | int | npt.NDArray = 3,
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  azimuth: float | int | npt.NDArray = 90,
@@ -166,6 +167,12 @@ class MujocoCamera:
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  Args:
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  camera_name: The name of the camera.
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+ mode: Camera positioning mode:
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+ - **"fixed"**: Fixed position and orientation relative to the body.
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+ - **"track"**: Fixed offset from the body in world coordinates, constant orientation.
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+ - **"trackcom"**: Like `"track"`, but relative to the center of mass of the subtree.
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+ - **"targetbody"**: Fixed position in body frame, oriented toward a target body.
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+ - **"targetbodycom"**: Like `"targetbody"`, but targets the subtree's center of mass.
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  lookat: The target point to look at (origin of `T`).
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  distance:
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  The distance from the target point (displacement between the origins
@@ -214,7 +221,7 @@ class MujocoCamera:
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  return MujocoCamera.build(
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  name=camera_name,
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- mode="fixed",
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+ mode=mode,
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  fovy=f"{fovy if degrees else np.rad2deg(fovy)}",
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  pos=" ".join(p.astype(str).tolist()),
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  quat=" ".join(Q.astype(str).tolist()),
{jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: jaxsim
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- Version: 0.6.2.dev273
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+ Version: 0.6.2.dev275
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.6.2.dev273.dist-info → jaxsim-0.6.2.dev275.dist-info}/RECORD RENAMED
@@ -1,5 +1,5 @@
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  jaxsim/__init__.py,sha256=EKeysKN-7UswwJLCl7n6qIBKQIVUtYsCMYu_tCoFn7g,3628
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- jaxsim/_version.py,sha256=g83rsbL4zkvgG8-68gdWW28JhpZJIQ93aHKS6g6GVLM,528
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+ jaxsim/_version.py,sha256=uEPZz1l86LTWP3KMvIugzbiPUShQy5zGVj-JygP8r_A,528
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  jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
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  jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
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  jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -31,7 +31,7 @@ jaxsim/mujoco/__init__.py,sha256=1kAWzYOS7nP29S5FGyWPqiAnPf4yPSoaPW-WBGBjVV0,214
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  jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
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  jaxsim/mujoco/loaders.py,sha256=OCk1T11iIm3qZUibNpo_bxxLgaGSkCpLt7ae_ND0ExA,23272
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  jaxsim/mujoco/model.py,sha256=bRXo1uhWDN37sP9qdejr_2vq_PXHQ7p6eyBlFff_JcE,16492
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- jaxsim/mujoco/utils.py,sha256=dW3LrcM050-eVVdLuCiN3StIrTEfyk_jJyq1GiNh3fg,8396
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+ jaxsim/mujoco/utils.py,sha256=r8BFrFAkW3lMAnEM3YUGZYLBNT2ptln4qDPm68CYrJk,8951
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  jaxsim/mujoco/visualizer.py,sha256=cmI6DhFb1XC7oEtg_wl-s-U56dWHA-F7GlBD6EDYTyA,7744
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  jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  jaxsim/parsers/kinematic_graph.py,sha256=ARq11Pv6yMDZeRRDlqrWzfVfUS7qSDwR57aWA4k54as,35758
@@ -65,8 +65,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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  jaxsim/utils/jaxsim_dataclass.py,sha256=XzmZeIibcaOzaxpprsGSxH3UrM66PAO456rFV91sNXg,11453
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  jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
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  jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
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- jaxsim-0.6.2.dev273.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.6.2.dev273.dist-info/METADATA,sha256=ZTap_k9XKf0MfovCWfqp25bmgFIFjVQPgq4KzmJgQ6s,19658
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- jaxsim-0.6.2.dev273.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
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- jaxsim-0.6.2.dev273.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.6.2.dev273.dist-info/RECORD,,
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+ jaxsim-0.6.2.dev275.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.6.2.dev275.dist-info/METADATA,sha256=e5w1a7yy022p-SYfLO1ujlQf8zXeqx14Mfk5iZu9lvg,19658
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+ jaxsim-0.6.2.dev275.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
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+ jaxsim-0.6.2.dev275.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.6.2.dev275.dist-info/RECORD,,