jaxsim 0.3.1.dev64__py3-none-any.whl → 0.3.1.dev113__py3-none-any.whl

jaxsim/integrators/variable_step.py

@@ -312,9 +312,9 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
 
         # Clip the estimated initial step size to the given bounds, if necessary.
         self.params["dt0"] = jnp.clip(
-            a=self.params["dt0"],
-            a_min=jnp.minimum(self.dt_min, self.params["dt0"]),
-            a_max=jnp.minimum(self.dt_max, self.params["dt0"]),
+            self.params["dt0"],
+            jnp.minimum(self.dt_min, self.params["dt0"]),
+            jnp.minimum(self.dt_max, self.params["dt0"]),
         )
 
         # =========================================================
@@ -371,7 +371,7 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
 
             # Shrink the Δt every time by the safety factor (even when accepted).
             # The β parameters define the bounds of the timestep update factor.
-            safety = jnp.clip(self.safety, a_min=0.0, a_max=1.0)
+            safety = jnp.clip(self.safety, 0.0, 1.0)
             β_min = jnp.maximum(0.0, self.beta_min)
             β_max = jnp.maximum(β_min, self.beta_max)
 
@@ -383,9 +383,9 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
             # In case of acceptance, Δt_next could either be larger than Δt0,
             # or slightly smaller than Δt0 depending on the safety factor.
             Δt_next = Δt0 * jnp.clip(
-                a=safety * jnp.power(1 / local_error, 1 / (q + 1)),
-                a_min=β_min,
-                a_max=β_max,
+                safety * jnp.power(1 / local_error, 1 / (q + 1)),
+                β_min,
+                β_max,
             )
 
             def accept_step():
@@ -545,14 +545,14 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
 @jax_dataclasses.pytree_dataclass
 class HeunEulerSO3(EmbeddedRungeKutta[PyTreeType], ExplicitRungeKuttaSO3Mixin):
 
-    A: ClassVar[jax.typing.ArrayLike] = jnp.array(
+    A: ClassVar[jtp.Matrix] = jnp.array(
         [
             [0, 0],
             [1, 0],
         ]
     ).astype(float)
 
-    b: ClassVar[jax.typing.ArrayLike] = (
+    b: ClassVar[jtp.Matrix] = (
         jnp.atleast_2d(
             jnp.array(
                 [
@@ -565,7 +565,7 @@ class HeunEulerSO3(EmbeddedRungeKutta[PyTreeType], ExplicitRungeKuttaSO3Mixin):
         .transpose()
     )
 
-    c: ClassVar[jax.typing.ArrayLike] = jnp.array(
+    c: ClassVar[jtp.Vector] = jnp.array(
         [0, 1],
     ).astype(float)
 
@@ -578,7 +578,7 @@ class HeunEulerSO3(EmbeddedRungeKutta[PyTreeType], ExplicitRungeKuttaSO3Mixin):
 @jax_dataclasses.pytree_dataclass
 class BogackiShampineSO3(EmbeddedRungeKutta[PyTreeType], ExplicitRungeKuttaSO3Mixin):
 
-    A: ClassVar[jax.typing.ArrayLike] = jnp.array(
+    A: ClassVar[jtp.Matrix] = jnp.array(
         [
             [0, 0, 0, 0],
             [1 / 2, 0, 0, 0],
@@ -587,7 +587,7 @@ class BogackiShampineSO3(EmbeddedRungeKutta[PyTreeType], ExplicitRungeKuttaSO3Mi
         ]
     ).astype(float)
 
-    b: ClassVar[jax.typing.ArrayLike] = (
+    b: ClassVar[jtp.Matrix] = (
         jnp.atleast_2d(
             jnp.array(
                 [
@@ -600,7 +600,7 @@ class BogackiShampineSO3(EmbeddedRungeKutta[PyTreeType], ExplicitRungeKuttaSO3Mi
         .transpose()
     )
 
-    c: ClassVar[jax.typing.ArrayLike] = jnp.array(
+    c: ClassVar[jtp.Vector] = jnp.array(
         [0, 1 / 2, 3 / 4, 1],
     ).astype(float)
 

jaxsim/math/__init__.py

@@ -4,8 +4,9 @@ StandardGravity = 9.81
 from .adjoint import Adjoint
 from .cross import Cross
 from .inertia import Inertia
-from .joint_model import JointModel, supported_joint_motion
 from .quaternion import Quaternion
 from .rotation import Rotation
 from .skew import Skew
 from .transform import Transform
+
+from .joint_model import JointModel, supported_joint_motion  # isort:skip

jaxsim/math/joint_model.py

@@ -11,6 +11,7 @@ from jaxsim.parsers.descriptions import JointGenericAxis, JointType, ModelDescri
 from jaxsim.parsers.kinematic_graph import KinematicGraphTransforms
 
 from .rotation import Rotation
+from .transform import Transform
 
 
 @jax_dataclasses.pytree_dataclass
@@ -162,7 +163,7 @@ class JointModel:
             joint_index=joint_index, joint_position=joint_position
         )
 
-        i_Hi_λ = jaxlie.SE3.from_matrix(λ_Hi_i).inverse().as_matrix()
+        i_Hi_λ = Transform.inverse(λ_Hi_i)
 
         return i_Hi_λ, S
 

jaxsim/math/quaternion.py

@@ -58,9 +58,7 @@ class Quaternion:
         Returns:
             jtp.Vector: Quaternion in XYZW representation.
         """
-        return Quaternion.to_wxyz(
-            xyzw=jaxlie.SO3.from_matrix(matrix=dcm).as_quaternion_xyzw()
-        )
+        return jaxlie.SO3.from_matrix(matrix=dcm).wxyz
 
     @staticmethod
     def derivative(
@@ -165,12 +163,8 @@ class Quaternion:
         # Integrate the quaternion on the manifold.
         W_Q_B_tf = jax.lax.select(
             pred=omega_in_body_fixed,
-            on_true=Quaternion.to_wxyz(
-                xyzw=(W_Q_B_t0 @ jaxlie.SO3.exp(tangent=dt * ω_AB)).as_quaternion_xyzw()
-            ),
-            on_false=Quaternion.to_wxyz(
-                xyzw=(jaxlie.SO3.exp(tangent=dt * ω_AB) @ W_Q_B_t0).as_quaternion_xyzw()
-            ),
+            on_true=(W_Q_B_t0 @ jaxlie.SO3.exp(tangent=dt * ω_AB)).wxyz,
+            on_false=(jaxlie.SO3.exp(tangent=dt * ω_AB) @ W_Q_B_t0).wxyz,
         )
 
         return W_Q_B_tf

jaxsim/math/transform.py

@@ -46,8 +46,8 @@ class Transform:
 
     @staticmethod
     def from_rotation_and_translation(
-        rotation: jtp.MatrixLike,
-        translation: jtp.VectorLike,
+        rotation: jtp.MatrixLike = jnp.eye(3),
+        translation: jtp.VectorLike = jnp.zeros(3),
         inverse: jtp.BoolLike = False,
     ) -> jtp.Matrix:
         """

jaxsim/mujoco/loaders.py

@@ -160,7 +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,
+        cameras: list[dict[str, str]] | dict[str, str] | None = None,
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a ROD model to a Mujoco MJCF string.
@@ -274,7 +274,7 @@ class RodModelToMjcf:
 
         # Load the URDF model into Mujoco.
         assets = RodModelToMjcf.assets_from_rod_model(rod_model=rod_model)
-        mj_model = mj.MjModel.from_xml_string(xml=urdf_string, assets=assets)  # noqa
+        mj_model = mj.MjModel.from_xml_string(xml=urdf_string, assets=assets)
 
         # Get the joint names.
         mj_joint_names = set(
@@ -306,7 +306,7 @@ class RodModelToMjcf:
         root: ET._Element = tree.getroot()
 
         # Find the <mujoco> element (might be the root itself).
-        mujoco_element: ET._Element = list(root.iter("mujoco"))[0]
+        mujoco_element: ET._Element = next(iter(root.iter("mujoco")))
 
         # --------------
         # Add the motors
@@ -516,7 +516,7 @@ 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,
+        cameras: list[dict[str, str]] | dict[str, str] | None = None,
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a URDF file to a Mujoco MJCF string.
@@ -558,7 +558,7 @@ 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,
+        cameras: list[dict[str, str]] | dict[str, str] | None = None,
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a SDF file to a Mujoco MJCF string.

jaxsim/mujoco/model.py

@@ -31,16 +31,16 @@ class MujocoModelHelper:
         self.model = model
         self.data = data if data is not None else mj.MjData(self.model)
 
-        # Populate the data with kinematics
+        # Populate the data with kinematics.
         mj.mj_forward(self.model, self.data)
 
-        # Keep the cache of this method local to improve GC
+        # Keep the cache of this method local to improve GC.
         self.mask_qpos = functools.cache(self._mask_qpos)
 
     @staticmethod
     def build_from_xml(
         mjcf_description: str | pathlib.Path,
-        assets: dict[str, Any] = None,
+        assets: dict[str, Any] | None = None,
         heightmap: HeightmapCallable | None = None,
     ) -> MujocoModelHelper:
         """
@@ -56,15 +56,15 @@ class MujocoModelHelper:
             A MujocoModelHelper object.
         """
 
-        # Read the XML description if it's a path to file
+        # Read the XML description if it is a path to file.
         mjcf_description = (
             mjcf_description.read_text()
             if isinstance(mjcf_description, pathlib.Path)
             else mjcf_description
         )
 
-        # Create the Mujoco model from the XML and, optionally, the assets dictionary
-        model = mj.MjModel.from_xml_string(xml=mjcf_description, assets=assets)  # noqa
+        # Create the Mujoco model from the XML and, optionally, the assets dictionary.
+        model = mj.MjModel.from_xml_string(xml=mjcf_description, assets=assets)
         data = mj.MjData(model)
 
         if heightmap:

jaxsim/mujoco/visualizer.py

@@ -81,6 +81,9 @@ class MujocoVideoRecorder:
     def write_video(self, path: pathlib.Path, exist_ok: bool = False) -> None:
         """Writes the video to a file."""
 
+        # Resolve the path to the video.
+        path = path.expanduser().resolve()
+
         if path.is_dir():
             raise IsADirectoryError(f"The path '{path}' is a directory.")
 

jaxsim/parsers/__init__.py

@@ -1 +0,0 @@
-from . import descriptions, kinematic_graph

jaxsim/parsers/descriptions/joint.py

@@ -26,7 +26,7 @@ class JointGenericAxis:
     A joint requiring the specification of a 3D axis.
     """
 
-    #: The axis of rotation or translation of the joint (must have norm 1).
+    # The axis of rotation or translation of the joint (must have norm 1).
     axis: jtp.Vector
 
     def __hash__(self) -> int:

jaxsim/parsers/descriptions/link.py

@@ -4,11 +4,11 @@ import dataclasses
 
 import jax.numpy as jnp
 import jax_dataclasses
-import jaxlie
 import numpy as np
 from jax_dataclasses import Static
 
 import jaxsim.typing as jtp
+from jaxsim.math import Adjoint
 from jaxsim.utils import JaxsimDataclass
 
 
@@ -102,12 +102,11 @@ class LinkDescription(JaxsimDataclass):
             The combined link.
         """
 
-        # Get the 6D inertia of the link to remove
+        # Get the 6D inertia of the link to remove.
         I_removed = link.inertia
 
         # Create the SE3 object. Note the inverse.
-        r_H_l = jaxlie.SE3.from_matrix(lumped_H_removed).inverse()
-        r_X_l = r_H_l.adjoint()
+        r_X_l = Adjoint.from_transform(transform=lumped_H_removed, inverse=True)
 
         # Move the inertia
         I_removed_in_lumped_frame = r_X_l.transpose() @ I_removed @ r_X_l

jaxsim/parsers/descriptions/model.py

@@ -176,7 +176,7 @@ class ModelDescription(KinematicGraph):
             frames=self.frames,
             collisions=tuple(self.collision_shapes),
             fixed_base=self.fixed_base,
-            base_link_name=list(iter(self))[0].name,
+            base_link_name=next(iter(self)).name,
             model_pose=self.root_pose,
             considered_joints=considered_joints,
         )

jaxsim/parsers/kinematic_graph.py

@@ -12,7 +12,8 @@ import jaxsim.utils
 from jaxsim import logging
 from jaxsim.utils import Mutability
 
-from . import descriptions
+from .descriptions.joint import JointDescription, JointType
+from .descriptions.link import LinkDescription
 
 
 @dataclasses.dataclass
@@ -61,7 +62,7 @@ class RootPose:
 
 
 @dataclasses.dataclass(frozen=True)
-class KinematicGraph(Sequence[descriptions.LinkDescription]):
+class KinematicGraph(Sequence[LinkDescription]):
     """
     Class storing a kinematic graph having links as nodes and joints as edges.
 
@@ -72,11 +73,11 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
         root_pose: The pose of the kinematic graph's root.
     """
 
-    root: descriptions.LinkDescription
-    frames: list[descriptions.LinkDescription] = dataclasses.field(
+    root: LinkDescription
+    frames: list[LinkDescription] = dataclasses.field(
         default_factory=list, hash=False, compare=False
     )
-    joints: list[descriptions.JointDescription] = dataclasses.field(
+    joints: list[JointDescription] = dataclasses.field(
         default_factory=list, hash=False, compare=False
     )
 
@@ -89,26 +90,26 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
 
     # Private attribute storing the unconnected joints from the parsed model and
     # the joints removed after model reduction.
-    _joints_removed: list[descriptions.JointDescription] = dataclasses.field(
+    _joints_removed: list[JointDescription] = dataclasses.field(
         default_factory=list, repr=False, hash=False, compare=False
     )
 
     @functools.cached_property
-    def links_dict(self) -> dict[str, descriptions.LinkDescription]:
+    def links_dict(self) -> dict[str, LinkDescription]:
         return {l.name: l for l in iter(self)}
 
     @functools.cached_property
-    def frames_dict(self) -> dict[str, descriptions.LinkDescription]:
+    def frames_dict(self) -> dict[str, LinkDescription]:
         return {f.name: f for f in self.frames}
 
     @functools.cached_property
-    def joints_dict(self) -> dict[str, descriptions.JointDescription]:
+    def joints_dict(self) -> dict[str, JointDescription]:
         return {j.name: j for j in self.joints}
 
     @functools.cached_property
     def joints_connection_dict(
         self,
-    ) -> dict[tuple[str, str], descriptions.JointDescription]:
+    ) -> dict[tuple[str, str], JointDescription]:
         return {(j.parent.name, j.child.name): j for j in self.joints}
 
     def __post_init__(self) -> None:
@@ -158,9 +159,9 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
 
     @staticmethod
     def build_from(
-        links: list[descriptions.LinkDescription],
-        joints: list[descriptions.JointDescription],
-        frames: list[descriptions.LinkDescription] | None = None,
+        links: list[LinkDescription],
+        joints: list[JointDescription],
+        frames: list[LinkDescription] | None = None,
         root_link_name: str | None = None,
         root_pose: RootPose = RootPose(),
     ) -> KinematicGraph:
@@ -186,7 +187,7 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
             logging.debug(msg=f"Assuming '{root_link_name}' as the root link")
 
         # Couple links and joints and create the graph of links.
-        # Note that the pose of the frames is not updated; it's the caller's
+        # Note that the pose of the frames is not updated; it is the caller's
         # responsibility to update their pose if they want to use them.
         (
             graph_root_node,
@@ -218,17 +219,17 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
 
     @staticmethod
     def _create_graph(
-        links: list[descriptions.LinkDescription],
-        joints: list[descriptions.JointDescription],
+        links: list[LinkDescription],
+        joints: list[JointDescription],
         root_link_name: str,
-        frames: list[descriptions.LinkDescription] | None = None,
+        frames: list[LinkDescription] | None = None,
     ) -> tuple[
-        descriptions.LinkDescription,
-        list[descriptions.JointDescription],
-        list[descriptions.LinkDescription],
-        list[descriptions.LinkDescription],
-        list[descriptions.JointDescription],
-        list[descriptions.LinkDescription],
+        LinkDescription,
+        list[JointDescription],
+        list[LinkDescription],
+        list[LinkDescription],
+        list[JointDescription],
+        list[LinkDescription],
     ]:
         """
         Low-level creator of kinematic graph components.
@@ -248,7 +249,7 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
         """
 
         # Create a dictionary that maps the link name to the link, for easy retrieval.
-        links_dict: dict[str, descriptions.LinkDescription] = {
+        links_dict: dict[str, LinkDescription] = {
             l.name: l.mutable(validate=False) for l in links
         }
 
@@ -280,7 +281,7 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
         # Couple links and joints creating the kinematic graph.
         for joint in joints:
 
-            # Get the parent and child links of the joint
+            # Get the parent and child links of the joint.
             parent_link = links_dict[joint.parent.name]
             child_link = links_dict[joint.child.name]
 
@@ -293,7 +294,7 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
             # Assign link's children and make sure they are unique.
             if child_link.name not in {l.name for l in parent_link.children}:
                 with parent_link.mutable_context(Mutability.MUTABLE_NO_VALIDATION):
-                    parent_link.children = parent_link.children + (child_link,)
+                    parent_link.children = (*parent_link.children, child_link)
 
         # Collect all the links of the kinematic graph.
         all_links_in_graph = list(
@@ -641,7 +642,7 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
         )
 
     @property
-    def joints_removed(self) -> list[descriptions.JointDescription]:
+    def joints_removed(self) -> list[JointDescription]:
         """
         Get the list of joints removed during the graph reduction.
 
@@ -653,9 +654,9 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
 
     @staticmethod
     def breadth_first_search(
-        root: descriptions.LinkDescription,
+        root: LinkDescription,
         sort_children: Callable[[Any], Any] | None = lambda link: link.name,
-    ) -> Iterable[descriptions.LinkDescription]:
+    ) -> Iterable[LinkDescription]:
         """
         Perform a breadth-first search (BFS) traversal of the kinematic graph.
 
@@ -698,25 +699,25 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
     # Sequence protocol
     # =================
 
-    def __iter__(self) -> Iterable[descriptions.LinkDescription]:
+    def __iter__(self) -> Iterable[LinkDescription]:
         yield from KinematicGraph.breadth_first_search(root=self.root)
 
-    def __reversed__(self) -> Iterable[descriptions.LinkDescription]:
+    def __reversed__(self) -> Iterable[LinkDescription]:
         yield from reversed(list(iter(self)))
 
     def __len__(self) -> int:
         return len(list(iter(self)))
 
-    def __contains__(self, item: str | descriptions.LinkDescription) -> bool:
+    def __contains__(self, item: str | LinkDescription) -> bool:
         if isinstance(item, str):
             return item in self.link_names()
 
-        if isinstance(item, descriptions.LinkDescription):
+        if isinstance(item, LinkDescription):
             return item in set(iter(self))
 
         raise TypeError(type(item).__name__)
 
-    def __getitem__(self, key: int | str) -> descriptions.LinkDescription:
+    def __getitem__(self, key: int | str) -> LinkDescription:
         if isinstance(key, str):
             if key not in self.link_names():
                 raise KeyError(key)
@@ -731,12 +732,10 @@ class KinematicGraph(Sequence[descriptions.LinkDescription]):
 
         raise TypeError(type(key).__name__)
 
-    def count(self, value: descriptions.LinkDescription) -> int:
+    def count(self, value: LinkDescription) -> int:
         return list(iter(self)).count(value)
 
-    def index(
-        self, value: descriptions.LinkDescription, start: int = 0, stop: int = -1
-    ) -> int:
+    def index(self, value: LinkDescription, start: int = 0, stop: int = -1) -> int:
         return list(iter(self)).index(value, start, stop)
 
 
@@ -906,7 +905,7 @@ class KinematicGraphTransforms:
 
     @staticmethod
     def pre_H_suc(
-        joint_type: descriptions.JointType,
+        joint_type: JointType,
         joint_axis: npt.NDArray,
         joint_position: float | None = None,
     ) -> npt.NDArray:

jaxsim/parsers/rod/parser.py

@@ -54,19 +54,19 @@ def extract_model_data(
     if isinstance(model_description, rod.Model):
         sdf_model = model_description
     else:
-        # Parse the SDF resource
+        # Parse the SDF resource.
         sdf_element = rod.Sdf.load(sdf=model_description, is_urdf=is_urdf)
 
         if len(sdf_element.models()) == 0:
             raise RuntimeError("Failed to find any model in SDF resource")
 
-        # Assume the SDF resource has only one model, or the desired model name is given
+        # Assume the SDF resource has only one model, or the desired model name is given.
         sdf_models = {m.name: m for m in sdf_element.models()}
         sdf_model = (
             sdf_element.models()[0] if len(sdf_models) == 1 else sdf_models[model_name]
         )
 
-    # Log model name
+    # Log model name.
     logging.debug(msg=f"Found model '{sdf_model.name}' in SDF resource")
 
     # Jaxsim supports only models compatible with URDF, i.e. those having all links
@@ -75,7 +75,7 @@ def extract_model_data(
     # pose is expressed wrt the parent link they are rigidly attached to.
     sdf_model.switch_frame_convention(frame_convention=rod.FrameConvention.Urdf)
 
-    # Log type of base link
+    # Log type of base link.
     logging.debug(
         msg="Model '{}' is {}".format(
             sdf_model.name,
@@ -83,7 +83,7 @@ def extract_model_data(
         )
     )
 
-    # Log detected base link
+    # Log detected base link.
     logging.debug(msg=f"Considering '{sdf_model.get_canonical_link()}' as base link")
 
     # Pose of the model
@@ -101,7 +101,7 @@ def extract_model_data(
     # Parse links
     # ===========
 
-    # Parse the links (unconnected)
+    # Parse the links (unconnected).
     links = [
         descriptions.LinkDescription(
             name=l.name,
@@ -113,14 +113,14 @@ def extract_model_data(
         if l.inertial.mass > 0
     ]
 
-    # Create a dictionary to find easily links
+    # Create a dictionary to find easily links.
     links_dict: Dict[str, descriptions.LinkDescription] = {l.name: l for l in links}
 
     # ============
     # Parse frames
     # ============
 
-    # Parse the frames (unconnected)
+    # Parse the frames (unconnected).
     frames = [
         descriptions.LinkDescription(
             name=f.name,
@@ -138,7 +138,7 @@ def extract_model_data(
     # =========================
 
     # In this case, we need to get the pose of the joint that connects the base link
-    # to the world and combine their pose
+    # to the world and combine their pose.
     if sdf_model.is_fixed_base():
         # Create a massless word link
         world_link = descriptions.LinkDescription(
@@ -200,7 +200,7 @@ def extract_model_data(
     # Parse joints
     # ============
 
-    # Check that all joint poses are expressed w.r.t. their parent link
+    # Check that all joint poses are expressed w.r.t. their parent link.
     for j in sdf_model.joints():
         if j.pose is None:
             continue
@@ -215,7 +215,7 @@ def extract_model_data(
             msg = "Pose of joint '{}' is not expressed wrt its parent link '{}'"
             raise ValueError(msg.format(j.name, j.parent))
 
-    # Parse the joints
+    # Parse the joints.
     joints = [
         descriptions.JointDescription(
             name=j.name,
@@ -278,10 +278,10 @@ def extract_model_data(
         and j.child in links_dict.keys()
     ]
 
-    # Create a dictionary to find the parent joint of the links
+    # Create a dictionary to find the parent joint of the links.
     joint_dict = {j.child.name: j.name for j in joints}
 
-    # Check that all the link poses are expressed wrt their parent joint
+    # Check that all the link poses are expressed wrt their parent joint.
     for l in sdf_model.links():
         if l.name not in links_dict:
             continue
@@ -354,7 +354,7 @@ def build_model_description(
         The parsed model description.
     """
 
-    # Parse data from the SDF assuming it contains a single model
+    # Parse data from the SDF assuming it contains a single model.
     sdf_data = extract_model_data(
         model_description=model_description, model_name=None, is_urdf=is_urdf
     )