From 04705baa1b0bdda1fcc7ba16f8ef3b7cf3e7eeb1 Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Wed, 24 Jul 2024 17:22:51 +0200
Subject: [PATCH] Allow no camera to be passed

---
 src/jaxsim/mujoco/loaders.py | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/jaxsim/mujoco/loaders.py b/src/jaxsim/mujoco/loaders.py
index e18faef79..4cd00bf89 100644
--- 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.