jaxsim 0.2.1.dev54__tar.gz → 0.2.1.dev62__tar.gz

{jaxsim-0.2.1.dev54 → jaxsim-0.2.1.dev62}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev54
+Version: 0.2.1.dev62
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.2.1.dev54 → jaxsim-0.2.1.dev62}/examples/PD_controller.ipynb

@@ -6,7 +6,11 @@
    "source": [
     "# `JAXsim` Showcase: PD Controller\n",
     "\n",
-    "First, we install the necessary packages and import them."
+    "First, we install the necessary packages and import them.\n",
+    "\n",
+    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/PD_controller.ipynb\">\n",
+    "  <img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/>\n",
+    "</a>"
    ]
   },
   {
@@ -19,6 +23,28 @@
     "from IPython.display import clear_output, HTML, display\n",
     "import sys\n",
     "\n",
+    "IS_COLAB = \"google.colab\" in sys.modules\n",
+    "\n",
+    "# Install JAX and Gazebo SDF\n",
+    "if IS_COLAB:\n",
+    "    !{sys.executable} -m pip install -qU jaxsim[viz]\n",
+    "    !apt install -qq lsb-release wget gnupg\n",
+    "    !wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\n",
+    "    !echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main\" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null\n",
+    "    !apt -qq update\n",
+    "    !apt install -qq --no-install-recommends libsdformat13 gz-tools2\n",
+    "\n",
+    "    # Optional dependency for visualization\n",
+    "    !{sys.executable} -m pip install pyvirtualdisplay\n",
+    "    !apt install xvfb\n",
+    "\n",
+    "    # Start Xvfb and set \"DISPLAY\" environment variable\n",
+    "    import pyvirtualdisplay\n",
+    "    d = pyvirtualdisplay.Display()\n",
+    "    d.start()\n",
+    "\n",
+    "    clear_output()\n",
+    "\n",
     "import jax\n",
     "import jax.numpy as jnp\n",
     "from jaxsim import logging\n",
@@ -124,29 +150,50 @@
    "source": [
     "# @title Set up MuJoCo renderer\n",
     "\n",
-    "from jaxsim.mujoco.visualizer import MujocoVisualizer\n",
     "from jaxsim.mujoco import RodModelToMjcf, MujocoModelHelper, MujocoVideoRecorder\n",
     "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
     "\n",
+    "import os\n",
+    "import subprocess\n",
+    "\n",
+    "\n",
+    "if IS_COLAB:\n",
+    "    if subprocess.run(\"ffmpeg -version\", shell=True).returncode:\n",
+    "        !command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
+    "        clear_output()\n",
+    "\n",
+    "    if subprocess.run(\"nvidia-smi\").returncode:\n",
+    "        raise RuntimeError(\n",
+    "            \"Cannot communicate with GPU. \"\n",
+    "            \"Make sure you are using a GPU Colab runtime. \"\n",
+    "            \"Go to the Runtime menu and select Choose runtime type.\"\n",
+    "        )\n",
+    "\n",
+    "    # Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
+    "    # This is usually installed as part of an Nvidia driver package, but the Colab\n",
+    "    # kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
+    "    # (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
+    "    NVIDIA_ICD_CONFIG_PATH = \"/usr/share/glvnd/egl_vendor.d/10_nvidia.json\"\n",
+    "    if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
+    "        with open(NVIDIA_ICD_CONFIG_PATH, \"w\") as f:\n",
+    "            f.write(\n",
+    "                \"\"\"{\n",
+    "      \"file_format_version\" : \"1.0.0\",\n",
+    "      \"ICD\" : {\n",
+    "         \"library_path\" : \"libEGL_nvidia.so.0\"\n",
+    "     }\n",
+    "  }\n",
+    "  \"\"\"\n",
+    "            )\n",
     "\n",
     "%env MUJOCO_GL=egl\n",
     "\n",
-    "try:\n",
-    "    import mujoco\n",
-    "except Exception as e:\n",
-    "    raise e from RuntimeError(\n",
-    "        \"Something went wrong during installation. Check the shell output above \"\n",
-    "        \"for more information.\\n\"\n",
-    "        \"If using a hosted Colab runtime, make sure you enable GPU acceleration \"\n",
-    "        'by going to the Runtime menu and selecting \"Choose runtime type\".'\n",
-    "    )\n",
-    "\n",
     "camera = {\n",
-    "    \"name\":\"cartpole_camera\",\n",
-    "    \"mode\":\"fixed\",\n",
-    "    \"pos\":\"3.954 3.533 2.343\",\n",
-    "    \"xyaxes\":\"-0.594 0.804 -0.000 -0.163 -0.120 0.979\",\n",
-    "    \"fovy\":\"60\",\n",
+    "    \"name\": \"cartpole_camera\",\n",
+    "    \"mode\": \"fixed\",\n",
+    "    \"pos\": \"3.954 3.533 2.343\",\n",
+    "    \"xyaxes\": \"-0.594 0.804 -0.000 -0.163 -0.120 0.979\",\n",
+    "    \"fovy\": \"60\",\n",
     "}\n",
     "\n",
     "mjcf_string, assets = UrdfToMjcf.convert(urdf=model.built_from, cameras=camera)\n",

{jaxsim-0.2.1.dev54 → jaxsim-0.2.1.dev62}/examples/Parallel_computing.ipynb

@@ -25,7 +25,16 @@
     "\n",
     "from IPython.display import HTML, clear_output, display\n",
     "\n",
+    "IS_COLAB = \"google.colab\" in sys.modules\n",
+    "\n",
     "# Install JAX and Gazebo\n",
+    "if IS_COLAB:\n",
+    "    !{sys.executable} -m pip install -qU jaxsim\n",
+    "    !apt install -qq lsb-release wget gnupg\n",
+    "    !wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\n",
+    "    !echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main\" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null\n",
+    "    !apt -qq update\n",
+    "    !apt install -qq --no-install-recommends libsdformat13 gz-tools2\n",
     "\n",
     "# Set environment variable to avoid GPU out of memory errors\n",
     "%env XLA_PYTHON_CLIENT_MEM_PREALLOCATE=false\n",

jaxsim-0.2.1.dev62/examples/README.md

@@ -0,0 +1,41 @@
+# JAXsim Notebook Examples
+
+This folder includes a Jupyter Notebook demonstrating the practical usage of JAXsim for system simulations.
+
+### Examples
+
+- [PD_controller](./PD_controller.ipynb) <a target="_blank" href="https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/PD_controller.ipynb">
+  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
+</a> - A simple example demonstrating the use of JAXsim to simulate a PD controller with gravity compensation for a 2-DOF cartpole.
+- [Parallel_computing](./Parallel_computing.ipynb) <a target="_blank" href="https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/Parallel_computing.ipynb">
+  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
+</a> - An example demonstrating how to simulate vectorized models in parallel using JAXsim.
+
+> [!TIP]
+> Stay tuned for more examples!
+
+## Running the Examples
+
+To execute these examples utilizing JAXsim with hardware acceleration, there are a couple of options available:
+
+### Option 1: Google Colab (Recommended)
+
+The simplest way to run the examples is by accessing the provided Google Colab notebook link mentioned above. This will enable you to execute the examples in a hosted environment.
+
+### Option 2: Local Execution with `pixi`
+
+For local execution, follow these steps:
+
+1. **Install `pixi`:**
+
+As per the [official documentation](https://pixi.sh/#installation):
+
+```bash
+curl -fsSL https://pixi.sh/install.sh | bash
+```
+
+2. **Run the Example Notebook:**
+
+Use `pixi run examples` from the project source directory to execute the example notebook locally.
+
+This command will automatically handle the installation of necessary dependencies and execute the examples within a self-contained environment

{jaxsim-0.2.1.dev54 → jaxsim-0.2.1.dev62}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.1.dev54'
-__version_tuple__ = version_tuple = (0, 2, 1, 'dev54')
+__version__ = version = '0.2.1.dev62'
+__version_tuple__ = version_tuple = (0, 2, 1, 'dev62')

{jaxsim-0.2.1.dev54 → jaxsim-0.2.1.dev62}/src/jaxsim/math/transform.py

@@ -69,7 +69,7 @@ class Transform:
         assert A_R_B.shape == (3, 3)
 
         A_H_B = jaxlie.SE3.from_rotation_and_translation(
-            rotation=A_R_B, translation=W_p_B
+            rotation=jaxlie.SO3.from_matrix(A_R_B), translation=W_p_B
         )
 
         return A_H_B.as_matrix() if not inverse else A_H_B.inverse().as_matrix()

{jaxsim-0.2.1.dev54 → jaxsim-0.2.1.dev62}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev54
+Version: 0.2.1.dev62
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

jaxsim-0.2.1.dev54/examples/README.md

@@ -1,29 +0,0 @@
-# JAXsim Notebook Examples
-
-This folder includes a Jupyter Notebook demonstrating the practical usage of JAXsim for system simulations.
-
-### Examples
-
-- [PD_controller](./PD_controller.ipynb) - A simple example demonstrating the use of JAXsim to simulate a PD controller with gravity compensation for a 2-DOF cartpole.
-- [Parallel_computing](./Parallel_computing.ipynb) - An example demonstrating how to simulate vectorized models in parallel using JAXsim.
-
-> [!TIP]
-> Stay tuned for more examples!
-
-## Running the Examples
-
-To execute these examples utilizing JAXsim with hardware acceleration, you can use [pixi](https://pixi.sh) to run the examples in a local environment:
-
-1. **Install `pixi`:**
-
-As per the [official documentation](https://pixi.sh/#installation):
-
-```bash
-curl -fsSL https://pixi.sh/install.sh | bash
-```
-
-2. **Run the Example Notebook:**
-
-Use `pixi run examples` from the project source directory to execute the example notebook locally.
-
-This command will automatically handle the installation of necessary dependencies and execute the examples within a self-contained environment