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Dynamic viewport #2313

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@burgern burgern commented Apr 15, 2025 •
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Description

These changes only apply for the case where: viewer.origin_type = "asset_root"

Allows for:

  • Viewer origin tracking: Track origin not only w.r.t. position, but also w.r.t. orientation. Choose which axis to track. Example: viewer_origin_tracking = ViewerOriginTracking(x=True, y=True, z=True, pitch=False, roll=False, yaw=True)
  • Allow eye / lookat to be callable, time-dependent functions. Example: viewer.eye = lambda t: (7.5, 7.5, 7.5 - 0.1 * t) # slowly zooms in over time

Type of change

  • New feature (non-breaking change which adds functionality)

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

nburger-bdai and others added 2 commits April 15, 2025 14:35
@nburger-bdai
Dynamic Viewport (isaac-sim#90)
4952d0a 
* Add viewer_origin_tracking and callable eye, lookout

* Fix accessing episode_length_buf during initialization

* Update imports

* Update reviews

---------

Co-authored-by: nburger <[email protected]>
@nburger-bdai
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@burgern burgern changed the title Dev/dynamic viewport Dynamic viewport Apr 15, 2025
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@Mayankm96 Mayankm96 Awaiting requested review from Mayankm96 Mayankm96 is a code owner

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@burgern @nburger-bdai