jaxsim 0.5.1.dev160__py3-none-any.whl → 0.5.1.dev164__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev160'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev160')
+__version__ = version = '0.5.1.dev164'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev164')

jaxsim/mujoco/visualizer.py

@@ -152,7 +152,10 @@ class MujocoVisualizer:
         viewer.sync()
 
     def open_viewer(
-        self, model: mj.MjModel | None = None, data: mj.MjData | None = None
+        self,
+        model: mj.MjModel | None = None,
+        data: mj.MjData | None = None,
+        show_left_ui: bool = False,
     ) -> mj.viewer.Handle:
         """Open a viewer."""
 
@@ -160,7 +163,7 @@ class MujocoVisualizer:
         model = model if model is not None else self.model
 
         handle = mj.viewer.launch_passive(
-            model, data, show_left_ui=False, show_right_ui=False
+            model, data, show_left_ui=show_left_ui, show_right_ui=False
         )
 
         return handle
@@ -171,6 +174,7 @@ class MujocoVisualizer:
         model: mj.MjModel | None = None,
         data: mj.MjData | None = None,
         *,
+        show_left_ui: bool = False,
         close_on_exit: bool = True,
         lookat: Sequence[float | int] | npt.NDArray | None = None,
         distance: float | int | npt.NDArray | None = None,
@@ -185,7 +189,7 @@ class MujocoVisualizer:
             https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global
         """
 
-        handle = self.open_viewer(model=model, data=data)
+        handle = self.open_viewer(model=model, data=data, show_left_ui=show_left_ui)
 
         handle = MujocoVisualizer.setup_viewer_camera(
             viewer=handle,

jaxsim/parsers/rod/parser.py

@@ -184,21 +184,16 @@ def extract_model_data(
             msg = "Found more/less than one joint connecting a fixed-base model to the world"
             raise ValueError(msg + f": {[j.name for j in joints_with_world_parent]}")
 
+        base_link_name = joints_with_world_parent[0].child.name
+
         msg = "Combining the pose of base link '{}' with the pose of joint '{}'"
-        logging.info(
-            msg.format(
-                joints_with_world_parent[0].child.name, joints_with_world_parent[0].name
-            )
-        )
+        logging.info(msg.format(base_link_name, joints_with_world_parent[0].name))
 
         # Combine the pose of the base link (child of the found fixed joint)
         # with the pose of the fixed joint connecting with the world.
         # Note: we assume it's a fixed joint and ignore any joint angle.
-        links_dict[joints_with_world_parent[0].child.name].mutable(
-            validate=False
-        ).pose = (
-            joints_with_world_parent[0].pose
-            @ links_dict[joints_with_world_parent[0].child.name].pose
+        links_dict[base_link_name].mutable(validate=False).pose = (
+            joints_with_world_parent[0].pose @ links_dict[base_link_name].pose
         )
 
     # ============

{jaxsim-0.5.1.dev160.dist-info → jaxsim-0.5.1.dev164.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev160
+Version: 0.5.1.dev164
 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-0.5.1.dev160.dist-info → jaxsim-0.5.1.dev164.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=_8rbKOf3bwx-2ChEbspZxs_rZY0RqUcmWAftnEw1bfM,3401
-jaxsim/_version.py,sha256=LFzsk7IuMCWjONW-0TMiOLJ2B9UR9fM3LGiij2F17N4,428
+jaxsim/_version.py,sha256=HBJFyRR4TSVLpDUSzqSMToGIY0oGpnNcNj-DP-ll5I0,428
 jaxsim/exceptions.py,sha256=qjfTjE9lXvD3-JCPQcxxiX2XSS8QegawzQ6ZuC2tc0Y,2638
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -35,7 +35,7 @@ jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,529
 jaxsim/mujoco/loaders.py,sha256=lHU-Oc2hyYca2eXIWmkhQAcX7vAvxAVTmBFsEqg3fL4,21066
 jaxsim/mujoco/model.py,sha256=tZWn2gpZSpQtwS5v7O5rGdjYNcEU6rnfAS6_ZKnZagE,16478
 jaxsim/mujoco/utils.py,sha256=6vYXNXmyI7lf2cp49cq9srClrPsbHmBGgdcPP1kux8M,8396
-jaxsim/mujoco/visualizer.py,sha256=45LntNrO8Y0sgzLcQrunhkGP7E9XROntCWIv8zQ4_w0,7089
+jaxsim/mujoco/visualizer.py,sha256=wb9Nzrlf-IAkRa4RgSNWswb3DxjnLKnOFTPfklUMpmU,7212
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/parsers/kinematic_graph.py,sha256=N6cn8Bh4uH92ygkoYFvazbi1Gq7svTojDiZVkhbxsRI,35897
 jaxsim/parsers/descriptions/__init__.py,sha256=N_hp8cGI5FyEFiuNx9a-CAGCr0F0QpYEpdMHvwB7_1g,261
@@ -45,7 +45,7 @@ jaxsim/parsers/descriptions/link.py,sha256=Eh0W5qL7_Uw0GV-BkNKXhm9Q2dRTfIWCX5D-8
 jaxsim/parsers/descriptions/model.py,sha256=G7nYy4CTppj2NM7hTXP6xGJ2h5dwT41N1fsy0EYSIBk,9860
 jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrGU,92
 jaxsim/parsers/rod/meshes.py,sha256=yAXefG73_zqbVKRUdlcz9yFmypjDIpiP9cO96PeAozE,2842
-jaxsim/parsers/rod/parser.py,sha256=9s2wImok8X-s6F8nPFq2vVZ2Ph_o6Q0q9c-HrZ0Z6LU,14498
+jaxsim/parsers/rod/parser.py,sha256=2AxRimQeYHHrdWLJrzXxPX9TUMOhuv10lqptfvG6wMQ,14405
 jaxsim/parsers/rod/utils.py,sha256=Wb1TsZ2v0VgmswYqI5hHRtGQx4ttWK8luWO9cvllTEk,8117
 jaxsim/rbda/__init__.py,sha256=kmy4G9aMkrqPNGdLSaSV3k15dpF52vBEUQXDFDuKIxU,337
 jaxsim/rbda/aba.py,sha256=w7ciyxB0IsmueatT0C7PcBQEl9dyiH9oqJgIi3xeTUE,8983
@@ -67,8 +67,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=Fxa555u14VUsVlKU1rBQFurrVzBp7BNsIaVoNko0lrI,11261
 jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
 jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
-jaxsim-0.5.1.dev160.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.5.1.dev160.dist-info/METADATA,sha256=zujfy9xVKXUkRBBa-5weqc0q8Xy-dEEgIqjyZzidR9A,20201
-jaxsim-0.5.1.dev160.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-jaxsim-0.5.1.dev160.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.5.1.dev160.dist-info/RECORD,,
+jaxsim-0.5.1.dev164.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev164.dist-info/METADATA,sha256=ER36MgF_wHAofj6s6aJDAO8ZU7LQSe8tU_WvpzqVMsw,20201
+jaxsim-0.5.1.dev164.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+jaxsim-0.5.1.dev164.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev164.dist-info/RECORD,,