Merge pull request ami-iit#216 from ami-iit/patch-camera

flferretti · Jul 26, 2024 · 14b401c · 14b401c
2 parents a58766b + 04705ba
commit 14b401c
Showing 1 changed file with 12 additions and 2 deletions.
diff --git a/src/jaxsim/mujoco/loaders.py b/src/jaxsim/mujoco/loaders.py
@@ -532,7 +532,12 @@ def convert(
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
-        cameras: list[dict[str, str]] | dict[str, str] | None = None,
+        cameras: (
+            MujocoCamera
+            | Sequence[MujocoCamera]
+            | dict[str, str]
+            | Sequence[dict[str, str]]
+        ) = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a URDF file to a Mujoco MJCF string.
@@ -574,7 +579,12 @@ def convert(
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
-        cameras: list[dict[str, str]] | dict[str, str] | None = None,
+        cameras: (
+            MujocoCamera
+            | Sequence[MujocoCamera]
+            | dict[str, str]
+            | Sequence[dict[str, str]]
+        ) = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a SDF file to a Mujoco MJCF string.