jaxsim 0.5.1.dev160__tar.gz → 0.5.1.dev164__tar.gz

{jaxsim-0.5.1.dev160 → jaxsim-0.5.1.dev164}/PKG-INFO

@@ -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 → jaxsim-0.5.1.dev164}/src/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-0.5.1.dev160 → jaxsim-0.5.1.dev164}/src/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-0.5.1.dev160 → jaxsim-0.5.1.dev164}/src/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 → jaxsim-0.5.1.dev164}/src/jaxsim.egg-info/PKG-INFO

@@ -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>