Merge branch 'ami-iit:main' into feature/docs

.github/workflows/ci_cd.yml

@@ -22,7 +22,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: 3.8
+          python-version: "3.10"
 
       - name: Install Python tools
         run: pip install build twine
@@ -58,8 +58,6 @@ jobs:
           # https://github.com/google/jax/issues/5795
           # - windows-latest
         python:
-          - "3.8"
-          - "3.9"
           - "3.10"
           - "3.11"
 

setup.cfg

@@ -36,8 +36,6 @@ classifiers =
     Operating System :: POSIX :: Linux
     Operating System :: MacOS
     Operating System :: Microsoft
-    Programming Language :: Python :: 3.8
-    Programming Language :: Python :: 3.9
     Programming Language :: Python :: 3.10
     Programming Language :: Python :: 3.11
     Programming Language :: Python :: 3 :: Only
@@ -52,7 +50,7 @@ zip_safe = False
 packages = find:
 package_dir =
     =src
-python_requires = >=3.8
+python_requires = >=3.10
 install_requires =
     coloredlogs
     jax >= 0.4.1

src/jaxsim/high_level/model.py

@@ -6,6 +6,7 @@
 import jax.numpy as jnp
 import jax_dataclasses
 import numpy as np
+import rod
 from jax_dataclasses import Static
 
 import jaxsim.physics.algos.aba
@@ -125,7 +126,7 @@ class Model(JaxsimDataclass):
 
     @staticmethod
     def build_from_model_description(
-        model_description: Union[str, pathlib.Path],
+        model_description: Union[str, pathlib.Path, rod.Model],
         model_name: Optional[str] = None,
         vel_repr: VelRepr = VelRepr.Mixed,
         gravity: jtp.Array = jaxsim.physics.default_gravity(),
@@ -136,7 +137,8 @@ def build_from_model_description(
         Build a Model object from a model description.
 
         Args:
-            model_description: Either a path to a file or a string containing the URDF/SDF description.
+            model_description: A path to an SDF/URDF file, a string containing its content,
+                or a pre-parsed/pre-built rod model.
             model_name: The optional name of the model that overrides the one in the description.
             vel_repr: The velocity representation to use.
             gravity: The 3D gravity vector.

src/jaxsim/parsers/rod/parser.py

@@ -32,15 +32,16 @@ class SDFData(NamedTuple):
 
 
 def extract_model_data(
-    model_description: Union[pathlib.Path, str],
+    model_description: Union[pathlib.Path, str, rod.Model],
     model_name: Optional[str] = None,
     is_urdf: Optional[bool] = None,
 ) -> SDFData:
     """
     Extract data from an SDF/URDF resource useful to build a JaxSim model.
 
     Args:
-        model_description: Either a path to an SDF/URDF file or a string containing its content.
+        model_description: A path to an SDF/URDF file, a string containing its content,
+          or a pre-parsed/pre-built rod model.
         model_name: The name of the model to extract from the SDF resource.
         is_urdf: Whether the SDF resource is a URDF file. Needed only if model_description
             is a URDF string.
@@ -49,17 +50,20 @@ def extract_model_data(
         The extracted model data.
     """
 
-    # Parse the SDF resource
-    sdf_element = rod.Sdf.load(sdf=model_description, is_urdf=is_urdf)
+    if isinstance(model_description, rod.Model):
+        sdf_model = model_description
+    else:
+        # Parse the SDF resource
+        sdf_element = rod.Sdf.load(sdf=model_description, is_urdf=is_urdf)
 
-    if len(sdf_element.models()) == 0:
-        raise RuntimeError("Failed to find any model in SDF resource")
+        if len(sdf_element.models()) == 0:
+            raise RuntimeError("Failed to find any model in SDF resource")
 
-    # Assume the SDF resource has only one model, or the desired model name is given
-    sdf_models = {m.name: m for m in sdf_element.models()}
-    sdf_model = (
-        sdf_element.models()[0] if len(sdf_models) == 1 else sdf_models[model_name]
-    )
+        # Assume the SDF resource has only one model, or the desired model name is given
+        sdf_models = {m.name: m for m in sdf_element.models()}
+        sdf_model = (
+            sdf_element.models()[0] if len(sdf_models) == 1 else sdf_models[model_name]
+        )
 
     # Log model name
     logging.debug(msg=f"Found model '{sdf_model.name}' in SDF resource")
@@ -298,13 +302,15 @@ def extract_model_data(
 
 
 def build_model_description(
-    model_description: Union[pathlib.Path, str], is_urdf: Optional[bool] = False
+    model_description: Union[pathlib.Path, str, rod.Model],
+    is_urdf: Optional[bool] = False,
 ) -> descriptions.ModelDescription:
     """
     Builds a model description from an SDF/URDF resource.
 
     Args:
-        model_description: Either a path to an SDF/URDF file or a string containing its content.
+        model_description: A path to an SDF/URDF file, a string containing its content,
+          or a pre-parsed/pre-built rod model.
         is_urdf: Whether the SDF resource is a URDF file. Needed only if model_description
             is a URDF string.
     Returns:

src/jaxsim/simulation/simulator.py

@@ -6,6 +6,7 @@
 import jax
 import jax.numpy as jnp
 import jax_dataclasses
+import rod
 from jax_dataclasses import Static
 
 import jaxsim.high_level
@@ -226,15 +227,16 @@ def set_gravity(self, gravity: jtp.Vector) -> None:
 
     def insert_model_from_description(
         self,
-        model_description: Union[pathlib.Path, str],
+        model_description: Union[pathlib.Path, str, rod.Model],
         model_name: Optional[str] = None,
         considered_joints: Optional[List[str]] = None,
     ) -> Model:
         """
         Insert a model from a model description.
 
         Args:
-            model_description: Either a path to a file or a string containing the URDF/SDF description.
+            model_description: A path to an SDF/URDF file, a string containing its content,
+                or a pre-parsed/pre-built rod model.
             model_name: The optional name of the model that overrides the one in the description.
             considered_joints: Optional list of joints to consider.
                                It is also useful to specify the joint serialization.