Update rod deprecated methods

ami-iit · May 20, 2024 · 1cecf81 · 1cecf81
1 parent d6748eb
commit 1cecf81
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Showing 3 changed files with 4 additions and 12 deletions.
diff --git a/src/jaxsim/mujoco/loaders.py b/src/jaxsim/mujoco/loaders.py
@@ -203,10 +203,8 @@ def convert(
             joints_dict[joint_name].type = "fixed"
 
         # Convert the ROD model to URDF.
-        urdf_string = rod.urdf.exporter.UrdfExporter.sdf_to_urdf_string(
+        urdf_string = rod.urdf.exporter.UrdfExporter.to_urdf_string(
             sdf=rod.Sdf(model=rod_model, version="1.7"),
-            gazebo_preserve_fixed_joints=False,
-            pretty=True,
         )
 
         # -------------------------------------

diff --git a/tests/conftest.py b/tests/conftest.py
@@ -128,9 +128,7 @@ def jaxsim_model_box() -> js.model.JaxSimModel:
     )
 
     # Export the URDF string.
-    urdf_string = rod.urdf.exporter.UrdfExporter.sdf_to_urdf_string(
-        sdf=rod_model, pretty=True
-    )
+    urdf_string = rod.urdf.exporter.UrdfExporter.to_urdf_string(sdf=rod_model)
 
     return build_jaxsim_model(model_description=urdf_string)
 
@@ -159,9 +157,7 @@ def jaxsim_model_sphere() -> js.model.JaxSimModel:
     )
 
     # Export the URDF string.
-    urdf_string = rod.urdf.exporter.UrdfExporter.sdf_to_urdf_string(
-        sdf=rod_model, pretty=True
-    )
+    urdf_string = rod.urdf.exporter.UrdfExporter.to_urdf_string(sdf=rod_model)
 
     return build_jaxsim_model(model_description=urdf_string)
 

diff --git a/tests/test_pytree.py b/tests/test_pytree.py
@@ -23,9 +23,7 @@ def test_call_jit_compiled_function_passing_different_objects():
     )
 
     # Export the URDF string.
-    urdf_string = rod.urdf.exporter.UrdfExporter.sdf_to_urdf_string(
-        sdf=rod_model, pretty=True
-    )
+    urdf_string = rod.urdf.exporter.UrdfExporter.to_urdf_string(sdf=rod_model)
 
     model1 = js.model.JaxSimModel.build_from_model_description(
         model_description=urdf_string,