jaxsim 0.5.1.dev162__tar.gz → 0.5.1.dev166__tar.gz

{jaxsim-0.5.1.dev162 → jaxsim-0.5.1.dev166}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev162
+Version: 0.5.1.dev166
 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.dev162 → jaxsim-0.5.1.dev166}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev162'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev162')
+__version__ = version = '0.5.1.dev166'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev166')

{jaxsim-0.5.1.dev162 → jaxsim-0.5.1.dev166}/src/jaxsim/mujoco/__init__.py

@@ -1,4 +1,4 @@
-from .loaders import RodModelToMjcf, SdfToMjcf, UrdfToMjcf
+from .loaders import ModelToMjcf, RodModelToMjcf, SdfToMjcf, UrdfToMjcf
 from .model import MujocoModelHelper
 from .utils import mujoco_data_from_jaxsim
 from .visualizer import MujocoVideoRecorder, MujocoVisualizer

{jaxsim-0.5.1.dev162 → jaxsim-0.5.1.dev166}/src/jaxsim/mujoco/loaders.py

@@ -9,6 +9,8 @@ import numpy as np
 import rod.urdf.exporter
 from lxml import etree as ET
 
+from jaxsim import logging
+
 from .utils import MujocoCamera
 
 MujocoCameraType = (
@@ -61,6 +63,59 @@ def load_rod_model(
     return models[model_name]
 
 
+class ModelToMjcf:
+    """
+    Class to convert a URDF/SDF file or a ROD model to a Mujoco MJCF string.
+    """
+
+    @staticmethod
+    def convert(
+        model: str | pathlib.Path | rod.Model,
+        considered_joints: list[str] | None = None,
+        plane_normal: tuple[float, float, float] = (0, 0, 1),
+        heightmap: bool | None = None,
+        heightmap_samples_xy: tuple[int, int] = (101, 101),
+        cameras: MujocoCameraType = (),
+    ) -> tuple[str, dict[str, Any]]:
+        """
+        Convert a model to a Mujoco MJCF string.
+
+        Args:
+            model: The URDF/SDF file or ROD model to convert.
+            considered_joints: The list of joint names to consider in the conversion.
+            plane_normal: The normal vector of the plane.
+            heightmap: Whether to generate a heightmap.
+            heightmap_samples_xy: The number of points in the heightmap grid.
+            cameras: The custom cameras to add to the scene.
+
+        Returns:
+            A tuple containing the MJCF string and the dictionary of assets.
+        """
+
+        match model:
+            case rod.Model():
+                rod_model = model
+            case str() | pathlib.Path():
+                # Convert the JaxSim model to a ROD model.
+                rod_model = load_rod_model(
+                    model_description=model,
+                    is_urdf=None,
+                    model_name=None,
+                )
+            case _:
+                raise TypeError(f"Unsupported type for 'model': {type(model)}")
+
+        # Convert the ROD model to MJCF.
+        return RodModelToMjcf.convert(
+            rod_model=rod_model,
+            considered_joints=considered_joints,
+            plane_normal=plane_normal,
+            heightmap=heightmap,
+            heightmap_samples_xy=heightmap_samples_xy,
+            cameras=cameras,
+        )
+
+
 class RodModelToMjcf:
     """
     Class to convert a ROD model to a Mujoco MJCF string.
@@ -552,6 +607,8 @@ class UrdfToMjcf:
             tuple: A tuple containing the MJCF string and the assets dictionary.
         """
 
+        logging.warning("This method is deprecated. Use 'ModelToMjcf.convert' instead.")
+
         # Get the ROD model.
         rod_model = load_rod_model(
             model_description=urdf,
@@ -598,6 +655,8 @@ class SdfToMjcf:
             tuple: A tuple containing the MJCF string and the assets dictionary.
         """
 
+        logging.warning("This method is deprecated. Use 'ModelToMjcf.convert' instead.")
+
         # Get the ROD model.
         rod_model = load_rod_model(
             model_description=sdf,

{jaxsim-0.5.1.dev162 → jaxsim-0.5.1.dev166}/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.dev162 → jaxsim-0.5.1.dev166}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev162
+Version: 0.5.1.dev166
 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>