jaxsim 0.5.1.dev164__tar.gz → 0.5.1.dev169__tar.gz

{jaxsim-0.5.1.dev164 → jaxsim-0.5.1.dev169}/PKG-INFO

@@ -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 → jaxsim-0.5.1.dev169}/examples/jaxsim_for_robot_controllers.ipynb

@@ -187,7 +187,7 @@
     "            in_link_frame=False,\n",
     "        ),\n",
     "        distance=3,\n",
-    "        azimut=150,\n",
+    "        azimuth=150,\n",
     "        elevation=-10,\n",
     "    ),\n",
     ")\n",

{jaxsim-0.5.1.dev164 → jaxsim-0.5.1.dev169}/src/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-0.5.1.dev164 → jaxsim-0.5.1.dev169}/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.dev164 → jaxsim-0.5.1.dev169}/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.dev164 → jaxsim-0.5.1.dev169}/src/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-0.5.1.dev164 → jaxsim-0.5.1.dev169}/src/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 → jaxsim-0.5.1.dev169}/src/jaxsim.egg-info/PKG-INFO

@@ -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 → jaxsim-0.5.1.dev169}/src/jaxsim.egg-info/SOURCES.txt

@@ -130,4 +130,5 @@ tests/test_exceptions.py
 tests/test_meshes.py
 tests/test_pytree.py
 tests/test_simulations.py
+tests/test_visualizer.py
 tests/utils_idyntree.py

jaxsim-0.5.1.dev169/tests/test_visualizer.py

@@ -0,0 +1,64 @@
+import pytest
+import rod
+
+from jaxsim.mujoco import ModelToMjcf
+from jaxsim.mujoco.loaders import MujocoCamera
+
+
+@pytest.fixture
+def mujoco_camera():
+
+    return MujocoCamera.build_from_target_view(
+        camera_name="test_camera",
+        lookat=(0, 0, 0),
+        distance=1,
+        azimuth=0,
+        elevation=0,
+        fovy=45,
+        degrees=True,
+    )
+
+
+def test_urdf_loading(jaxsim_model_single_pendulum, mujoco_camera):
+    model = jaxsim_model_single_pendulum.built_from
+
+    _ = ModelToMjcf.convert(model=model, cameras=mujoco_camera)
+
+
+def test_sdf_loading(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).serialize(
+        pretty=True
+    )
+
+    _ = ModelToMjcf.convert(model=model, cameras=mujoco_camera)
+
+
+def test_rod_loading(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).models()[0]
+
+    _ = ModelToMjcf.convert(model=model, cameras=mujoco_camera)
+
+
+def test_heightmap(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).models()[0]
+
+    _ = ModelToMjcf.convert(
+        model=model,
+        cameras=mujoco_camera,
+        heightmap=True,
+        heightmap_samples_xy=(51, 51),
+    )
+
+
+def test_inclined_plane(jaxsim_model_single_pendulum, mujoco_camera):
+
+    model = rod.Sdf.load(sdf=jaxsim_model_single_pendulum.built_from).models()[0]
+
+    _ = ModelToMjcf.convert(
+        model=model,
+        cameras=mujoco_camera,
+        plane_normal=(0.3, 0.3, 0.3),
+    )