jaxsim 0.5.1.dev164__py3-none-any.whl → 0.5.1.dev169__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.dev164'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev164')
+__version__ = version = '0.5.1.dev169'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev169')

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/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/mujoco/utils.py

@@ -147,7 +147,7 @@ class MujocoCamera:
         camera_name: str,
         lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
         distance: float | int | npt.NDArray = 3,
-        azimut: float | int | npt.NDArray = 90,
+        azimuth: float | int | npt.NDArray = 90,
         elevation: float | int | npt.NDArray = -45,
         fovy: float | int | npt.NDArray = 45,
         degrees: bool = True,
@@ -170,7 +170,7 @@ class MujocoCamera:
             distance:
                 The distance from the target point (displacement between the origins
                 of `T` and `C`).
-            azimut:
+            azimuth:
                 The rotation around z of the camera. With an angle of 0, the camera
                 would loot at the target point towards the positive x-axis of `T`.
             elevation:
@@ -193,8 +193,8 @@ class MujocoCamera:
             seq="ZX", angles=[-90, 90], degrees=True
         ).as_matrix()
 
-        # Process the azimut.
-        R_az = Rotation.from_euler(seq="Y", angles=azimut, degrees=degrees).as_matrix()
+        # Process the azimuth.
+        R_az = Rotation.from_euler(seq="Y", angles=azimuth, degrees=degrees).as_matrix()
         W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_az
 
         # Process elevation.

jaxsim/mujoco/visualizer.py

@@ -178,7 +178,7 @@ class MujocoVisualizer:
         close_on_exit: bool = True,
         lookat: Sequence[float | int] | npt.NDArray | None = None,
         distance: float | int | npt.NDArray | None = None,
-        azimut: float | int | npt.NDArray | None = None,
+        azimuth: float | int | npt.NDArray | None = None,
         elevation: float | int | npt.NDArray | None = None,
     ) -> contextlib.AbstractContextManager[mujoco.viewer.Handle]:
         """
@@ -195,7 +195,7 @@ class MujocoVisualizer:
             viewer=handle,
             lookat=lookat,
             distance=distance,
-            azimut=azimut,
+            azimuth=azimuth,
             elevation=elevation,
         )
 
@@ -210,7 +210,7 @@ class MujocoVisualizer:
         *,
         lookat: Sequence[float | int] | npt.NDArray | None,
         distance: float | int | npt.NDArray | None = None,
-        azimut: float | int | npt.NDArray | None = None,
+        azimuth: float | int | npt.NDArray | None = None,
         elevation: float | int | npt.NDArray | None = None,
     ) -> mj.viewer.Handle:
         """
@@ -236,8 +236,8 @@ class MujocoVisualizer:
         if distance is not None:
             viewer.cam.distance = float(distance)
 
-        if azimut is not None:
-            viewer.cam.azimuth = float(azimut) % 360
+        if azimuth is not None:
+            viewer.cam.azimuth = float(azimuth) % 360
 
         if elevation is not None:
             viewer.cam.elevation = float(elevation)

{jaxsim-0.5.1.dev164.dist-info → jaxsim-0.5.1.dev169.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev164
+Version: 0.5.1.dev169
 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.dev164.dist-info → jaxsim-0.5.1.dev169.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=_8rbKOf3bwx-2ChEbspZxs_rZY0RqUcmWAftnEw1bfM,3401
-jaxsim/_version.py,sha256=HBJFyRR4TSVLpDUSzqSMToGIY0oGpnNcNj-DP-ll5I0,428
+jaxsim/_version.py,sha256=qXEGQ7GIBzsGmuLyQgxO4_ta2lYS2xZ9e0PU-m3eua8,428
 jaxsim/exceptions.py,sha256=qjfTjE9lXvD3-JCPQcxxiX2XSS8QegawzQ6ZuC2tc0Y,2638
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -30,12 +30,12 @@ jaxsim/math/rotation.py,sha256=bl9WCbYyLKg6RyRkMaEBBTmARBs8pB-FGR0JVbfbaNE,2187
 jaxsim/math/skew.py,sha256=P82yeQs9Fzb7Ri_MAikcb54_06cE_syi9yPssSg4ydw,1426
 jaxsim/math/transform.py,sha256=We0ChLajSckxGINiJsP1a5Ur3yjg3JuweQ3kK4Woix4,3332
 jaxsim/math/utils.py,sha256=2id1F6QOvkHkIF3Nuxuj_tz_kI0IYlrlgVQrETmXFfI,1058
-jaxsim/mujoco/__init__.py,sha256=fZyRWre49pIhOrYdf6yJk_hOax8qWGe8OCmoq-dMVq8,201
+jaxsim/mujoco/__init__.py,sha256=1kAWzYOS7nP29S5FGyWPqiAnPf4yPSoaPW-WBGBjVV0,214
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=lHU-Oc2hyYca2eXIWmkhQAcX7vAvxAVTmBFsEqg3fL4,21066
+jaxsim/mujoco/loaders.py,sha256=Jjb5Us9ERmLjejM4S1FcqrF12ZVkjBMZXelu9n6HGA4,23138
 jaxsim/mujoco/model.py,sha256=tZWn2gpZSpQtwS5v7O5rGdjYNcEU6rnfAS6_ZKnZagE,16478
-jaxsim/mujoco/utils.py,sha256=6vYXNXmyI7lf2cp49cq9srClrPsbHmBGgdcPP1kux8M,8396
-jaxsim/mujoco/visualizer.py,sha256=wb9Nzrlf-IAkRa4RgSNWswb3DxjnLKnOFTPfklUMpmU,7212
+jaxsim/mujoco/utils.py,sha256=ZFEGvmz0xfbN-EKLOXVkcumqBKs5ywc49XGEnFOwBmU,8400
+jaxsim/mujoco/visualizer.py,sha256=zkdu5qxZK0BGYotAHxoYQ5ZVTWSmwVZPQ3vTWGOik9E,7218
 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
@@ -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.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,,
+jaxsim-0.5.1.dev169.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev169.dist-info/METADATA,sha256=zvEWq3xREecEqZZrV8HtRFRWe0szMcbICDDZS-PndnU,20201
+jaxsim-0.5.1.dev169.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+jaxsim-0.5.1.dev169.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev169.dist-info/RECORD,,