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Remove is_urdf argument when building the model #238

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merged 4 commits into from
Sep 25, 2024
Merged

Remove is_urdf argument when building the model #238

merged 4 commits into from
Sep 25, 2024

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flferretti
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@flferretti flferretti commented Sep 19, 2024 •
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This PR removes the is_urdf argument, as it can get automatically detected by rod. Furthermore, it enables using a rod.Sdf instance to build a JaxSimModel.

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Requires ami-iit/rod#42

📚 Documentation preview 📚: https://jaxsim--238.org.readthedocs.build//238/

@flferretti flferretti self-assigned this Sep 19, 2024
@flferretti flferretti force-pushed the fix/remove_is_urdf branch 2 times, most recently from 94a11e9 to 1164aaa Compare September 23, 2024 07:43
@diegoferigo
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I just released rod v0.3.2, can you please bump the dependency? CI should pass as soon as it is deployed to PyPI (maybe in ~10 mins).

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@flferretti also in environment.yml :)

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I just released rod v0.3.2, can you please bump the dependency? CI should pass as soon as it is deployed to PyPI (maybe in ~10 mins).

Thanks for the release! I made the requested changes on the requirements, it should be okay now

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RTD action will fail until rod==0.3.3 will be released on conda-forge. I triggered conda-forge/rod-feedstock#12

@flferretti flferretti force-pushed the fix/remove_is_urdf branch 3 times, most recently from 441de78 to d998a0e Compare September 25, 2024 07:57
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As discussed f2f, I added the possibility to force parsing the resource as URDF.

diegoferigo
diegoferigo requested changes Sep 25, 2024
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Last fix since the changes introduced a minor change of behavior in a new considered case.

src/jaxsim/mujoco/loaders.py Outdated Show resolved Hide resolved
src/jaxsim/parsers/rod/parser.py Outdated Show resolved Hide resolved
diegoferigo
diegoferigo approved these changes Sep 25, 2024
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Great! Thanks @flferretti for addressing feedback.

@diegoferigo diegoferigo merged commit 8080f3c into main Sep 25, 2024
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@diegoferigo diegoferigo deleted the fix/remove_is_urdf branch September 25, 2024 10:04
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@diegoferigo diegoferigo diegoferigo approved these changes

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