Allow passing camera tracking modality to the visualizer

[flferretti]

This pull request includes changes to the src/jaxsim/mujoco/utils.py file to enhance the functionality of the build_from_target_view method by adding a new parameter for camera positioning mode.

Enhancements to camera positioning:

• src/jaxsim/mujoco/utils.py: Added a new parameter mode to the build_from_target_view method, allowing different camera positioning modes such as "fixed", "track", "trackcom", "targetbody", and "targetbodycom". This change provides more flexibility in camera positioning. [1] [2]
• src/jaxsim/mujoco/utils.py: Updated the call to MujocoCamera.build to use the new mode parameter instead of a fixed value.

---

📚 Documentation preview 📚: https://jaxsim--390.org.readthedocs.build//390/

[github-actions]

Benchmark

Benchmark suite	Current: 676923f	Previous: eae6986	Ratio
tests/test_benchmark.py::test_forward_dynamics_aba[1]	30.68728420213232 iter/sec (stddev: 0.00026488352634099546)	30.7774968284988 iter/sec (stddev: 0.0005705210848429037)	1.00
tests/test_benchmark.py::test_forward_dynamics_aba[128]	14.786105729610437 iter/sec (stddev: 0.0004075004241453864)	14.146595863095165 iter/sec (stddev: 0.00031697431912279387)	0.96
tests/test_benchmark.py::test_free_floating_bias_forces[1]	25.084654112558812 iter/sec (stddev: 0.0002724409542282948)	25.68175324886898 iter/sec (stddev: 0.000555675435981585)	1.02
tests/test_benchmark.py::test_free_floating_bias_forces[128]	10.832731984721311 iter/sec (stddev: 0.00048138251652220314)	10.164435370121659 iter/sec (stddev: 0.0007605924252711689)	0.94
tests/test_benchmark.py::test_forward_kinematics[1]	72.7795563619644 iter/sec (stddev: 0.00008656284298843755)	69.81469839745793 iter/sec (stddev: 0.0006163821523822769)	0.96
tests/test_benchmark.py::test_forward_kinematics[128]	23.62802656961562 iter/sec (stddev: 0.00015729045183692487)	22.401039775722435 iter/sec (stddev: 0.00021421729730426034)	0.95
tests/test_benchmark.py::test_free_floating_mass_matrix[1]	38.44459086619205 iter/sec (stddev: 0.00024054602100189663)	39.54264625253923 iter/sec (stddev: 0.00011023363754358956)	1.03
tests/test_benchmark.py::test_free_floating_mass_matrix[128]	38.46357305877095 iter/sec (stddev: 0.0001036469215631747)	38.718691339366394 iter/sec (stddev: 0.00012217799221209307)	1.01
tests/test_benchmark.py::test_free_floating_jacobian[1]	48.20261917640531 iter/sec (stddev: 0.0002467925914337862)	48.51716698788762 iter/sec (stddev: 0.0001257723821880265)	1.01
tests/test_benchmark.py::test_free_floating_jacobian[128]	48.94482167217231 iter/sec (stddev: 0.0002349234199181414)	49.34922981894023 iter/sec (stddev: 0.00011600846220508403)	1.01
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1]	29.059086947460546 iter/sec (stddev: 0.0003405034765148387)	29.534802381170334 iter/sec (stddev: 0.0002909413439522546)	1.02
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128]	29.51792057783257 iter/sec (stddev: 0.00016197992969383887)	29.731915603980514 iter/sec (stddev: 0.00016348786546905957)	1.01
tests/test_benchmark.py::test_soft_contact_model[1]	26.986349075275644 iter/sec (stddev: 0.00013680274520587462)	27.226450796988917 iter/sec (stddev: 0.00015933637137169617)	1.01
tests/test_benchmark.py::test_soft_contact_model[128]	13.500840932521934 iter/sec (stddev: 0.00036995215840868173)	12.936643746085005 iter/sec (stddev: 0.00030158212773395135)	0.96
tests/test_benchmark.py::test_rigid_contact_model[1]	5.806338449647206 iter/sec (stddev: 0.001165184865144894)	5.873521341538025 iter/sec (stddev: 0.00041540292111836164)	1.01
tests/test_benchmark.py::test_rigid_contact_model[128]	0.8324192607051132 iter/sec (stddev: 0.0026243711326807404)	0.8355880800090844 iter/sec (stddev: 0.0010119887421822474)	1.00
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1]	5.320788804625757 iter/sec (stddev: 0.0005683720663282951)	5.376666178213237 iter/sec (stddev: 0.0004388340402541893)	1.01
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128]	3.185261648813109 iter/sec (stddev: 0.0012738607425142807)	3.1012058255183406 iter/sec (stddev: 0.00098300075039445)	0.97
tests/test_benchmark.py::test_simulation_step[1]	4.136872726731155 iter/sec (stddev: 0.0006581001594447183)	4.153352438170243 iter/sec (stddev: 0.0009839697736743166)	1.00
tests/test_benchmark.py::test_simulation_step[128]	2.430573960211738 iter/sec (stddev: 0.0018974697151209084)	2.4001936100433436 iter/sec (stddev: 0.0015834452162262532)	0.99

This comment was automatically generated by workflow using github-action-benchmark.