jaxsim 0.3.1.dev64__tar.gz → 0.3.1.dev113__tar.gz

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/.gitignore

@@ -77,6 +77,10 @@ instance/
 
 # Sphinx documentation
 docs/_build/
+docs/_collections/
+docs/modules/_autosummary/
+docs/modules/generated
+docs/sg_execution_times.rst
 
 # PyBuilder
 target/

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/.readthedocs.yaml

@@ -1,9 +1,9 @@
 version: "2"
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
-    python: "mambaforge-22.9"
+    python: "mambaforge-23.11"
 
 conda:
   environment: environment.yml

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev64
+Version: 0.3.1.dev113
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

jaxsim-0.3.1.dev113/docs/conf.py

@@ -0,0 +1,124 @@
+# Configuration file for the Sphinx documentation builder.
+import os
+import sys
+
+from pkg_resources import get_distribution
+
+if os.environ.get("READTHEDOCS"):
+    checkout_name = os.path.basename(os.path.dirname(os.path.realpath(__file__)))
+    os.environ["CONDA_PREFIX"] = os.path.realpath(
+        os.path.join("..", "..", "conda", checkout_name)
+    )
+
+import jaxsim
+
+# -- Version information
+
+sys.path.insert(0, os.path.abspath("."))
+sys.path.insert(0, os.path.abspath("../"))
+sys.path.insert(0, os.path.abspath("../../"))
+
+module_path = os.path.abspath("../src/")
+sys.path.insert(0, module_path)
+
+__version__ = get_distribution("jaxsim").version
+
+# -- Project information
+
+project = "JAXsim"
+copyright = "2022, Artificial and Mechanical Intelligence"
+author = "Artificial and Mechanical Intelligence"
+
+release = f"{__version__}"
+version = f"main ({__version__})"
+
+# -- General configuration
+
+extensions = [
+    "sphinx.ext.duration",
+    "sphinx.ext.doctest",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.ifconfig",
+    "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
+    "sphinx.ext.napoleon",
+    "sphinx_autodoc_typehints",
+    "sphinx_multiversion",
+    "enum_tools.autoenum",
+    "myst_nb",
+    "sphinx_gallery.gen_gallery",
+    "sphinxcontrib.collections",
+    "sphinx_design",
+]
+
+# -- Options for intersphinx extension
+
+language = "en"
+
+html_theme = "sphinx_book_theme"
+
+templates_path = ["_templates"]
+
+html_title = f"JAXsim {version}"
+
+master_doc = "index"
+
+autodoc_typehints_format = "short"
+
+autodoc_typehints = "description"
+
+autosummary_generate = True
+
+epub_show_urls = "footnote"
+
+# Enable postponed evaluation of annotations (PEP 563)
+autodoc_type_aliases = {
+    "jaxsim.typing.PyTree": "jaxsim.typing.PyTree",
+    "jaxsim.typing.Vector": "jaxsim.typing.Vector",
+    "jaxsim.typing.Matrix": "jaxsim.typing.Matrix",
+    "jaxsim.typing.Array": "jaxsim.typing.Array",
+    "jaxsim.typing.Int": "jaxsim.typing.Int",
+    "jaxsim.typing.Bool": "jaxsim.typing.Bool",
+    "jaxsim.typing.Float": "jaxsim.typing.Float",
+    "jaxsim.typing.ScalarLike": "jaxsim.typing.ScalarLike",
+    "jaxsim.typing.ArrayLike": "jaxsim.typing.ArrayLike",
+    "jaxsim.typing.VectorLike": "jaxsim.typing.VectorLike",
+    "jaxsim.typing.MatrixLike": "jaxsim.typing.MatrixLike",
+    "jaxsim.typing.IntLike": "jaxsim.typing.IntLike",
+    "jaxsim.typing.BoolLike": "jaxsim.typing.BoolLike",
+    "jaxsim.typing.FloatLike": "jaxsim.typing.FloatLike",
+}
+
+# -- Options for sphinx-collections
+
+collections = {
+    "examples": {"driver": "copy_folder", "source": "../examples/", "ignore": "assets"}
+}
+
+# -- Options for sphinx-gallery ----------------------------------------------
+
+sphinx_gallery_conf = {
+    "examples_dirs": "../examples",
+    "gallery_dirs": "../generated_examples/",
+    "doc_module": "jaxsim",
+}
+
+# -- Options for myst -------------------------------------------------------
+myst_enable_extensions = [
+    "amsmath",
+    "dollarmath",
+]
+nb_execution_mode = "auto"
+nb_execution_raise_on_error = True
+nb_render_image_options = {
+    "scale": "60",
+}
+nb_execution_timeout = 180
+
+source_suffix = [".rst", ".md", ".ipynb"]
+
+# Ignore header warnings
+suppress_warnings = ["myst.header"]

jaxsim-0.3.1.dev113/docs/examples.rst

@@ -0,0 +1,46 @@
+.. _collections:
+
+Example Notebooks
+=================
+
+.. toctree::
+    :glob:
+    :hidden:
+    :maxdepth: 1
+
+    _collections/examples/README.md
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbnails">
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbcontainer" tooltip="Parallel Simulation.">
+
+.. only:: html
+
+    :doc:`_collections/examples/Parallel_computing`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">Parallel Simulation</div>
+    </div>
+
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbcontainer" tooltip="PD Controller.">
+
+.. only:: html
+
+    :doc:`_collections/examples/PD_controller`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">PD Controller</div>
+    </div>
+
+.. raw:: html
+
+    </div>

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/docs/index.rst

@@ -21,7 +21,7 @@ Features
 
          .. div:: sd-font-normal
 
-            Physics engine in reduced coordinates implemented with `JAX <https://github.com/google/jax/>`_.
+            Physics engine in reduced coordinates implemented with JAX_.
             Compatibility with JIT compilation for increased performance and transparent support to execute logic on CPUs, GPUs, and TPUs.
             Parallel multi-body simulations on hardware accelerators for significantly increased throughput
 
@@ -68,17 +68,24 @@ Features
 
 .. toctree::
   :hidden:
-  :maxdepth: 1
-  :caption: User Guide
 
   guide/install
 
+  examples
+
 .. toctree::
   :hidden:
-  :maxdepth: 1
+  :maxdepth: 2
   :caption: JAXsim API
 
-  modules/index
+  modules/api
+  modules/integrators
+  modules/math
+  modules/mujoco
+  modules/parsers
+  modules/rbda
+  modules/typing
+  modules/utils
 
 Examples
 --------
@@ -90,13 +97,13 @@ Credits
 
 The physics module of JAXsim is based on the theory of the `Rigid Body Dynamics Algorithms <https://link.springer.com/book/10.1007/978-1-4899-7560-7>`_ book by Roy Featherstone.
 We structured part of our logic following its accompanying `code <http://royfeatherstone.org/spatial/index.html#spatial-software>`_.
-The physics engine is developed entirely in Python using `JAX <https://github.com/google/jax/>`_.
+The physics engine is developed entirely in Python using JAX_.
 
-The inspiration for developing JAXsim originally stemmed from early versions of `google/brax <https://github.com/google/brax>`_.
+The inspiration for developing JAXsim originally stemmed from early versions of Brax_.
 Here below we summarize the differences between the projects:
 
-- JAXsim simulates multibody dynamics in reduced coordinates, while brax v1 uses maximal coordinates.
-- The new v2 APIs of brax (and the new `MJX <https://mujoco.readthedocs.io/en/3.0.0/mjx.html>`_) were then implemented in reduced coordinates, following an approach comparable to JAXsim, with major differences in contact handling.
+- JAXsim simulates multibody dynamics in reduced coordinates, while :code:`brax v1` uses maximal coordinates.
+- The new v2 APIs of brax (and the new MJX_) were then implemented in reduced coordinates, following an approach comparable to JAXsim, with major differences in contact handling.
 - The rigid-body algorithms used in JAXsim allow to efficiently compute quantities based on the Euler-Poincarè
   formulation of the equations of motion, necessary for model-based robotics research.
 - JAXsim supports SDF (and, indirectly, URDF) models, assuming the model is described with the
@@ -122,3 +129,7 @@ License
 -------
 
 `BSD3 <https://choosealicense.com/licenses/bsd-3-clause/>`_
+
+.. _Brax: https://github.com/google/brax
+.. _MJX: https://mujoco.readthedocs.io/en/3.0.0/mjx.html
+.. _JAX: https://github.com/google/jax

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/docs/modules/api.rst

@@ -3,65 +3,93 @@ Functional API
 
 .. currentmodule:: jaxsim.api
 
+.. autosummary::
+   :toctree: _autosummary
+
+    model
+    data
+    contact
+    kin_dyn_parameters
+    joint
+    link
+    frame
+    com
+    ode_data
+    ode
+    references
+    common
+
+
 Model
 ~~~~~
 
 .. automodule:: jaxsim.api.model
     :members:
+    :no-index:
 
 Data
 ~~~~
 
 .. automodule:: jaxsim.api.data
     :members:
+    :no-index:
 
 Contact
 ~~~~~~~
 
 .. automodule:: jaxsim.api.contact
     :members:
+    :no-index:
 
 KinDynParameters
 ~~~~~~~~~~~~~~~~
 
 .. automodule:: jaxsim.api.kin_dyn_parameters
     :members:
+    :no-index:
 
 Joint
 ~~~~~
 
 .. automodule:: jaxsim.api.joint
     :members:
+    :no-index:
 
 Link
 ~~~~~
 .. automodule:: jaxsim.api.link
     :members:
+    :no-index:
 
 Frame
 ~~~~~
 .. automodule:: jaxsim.api.frame
     :members:
+    :no-index:
 
 CoM
 ~~~
 .. automodule:: jaxsim.api.com
     :members:
+    :no-index:
 
 ODE Data
 ~~~~~~~~
 
 .. automodule:: jaxsim.api.ode_data
     :members:
+    :no-index:
 
 .. automodule:: jaxsim.api.ode
     :members:
+    :no-index:
 
 References
 ~~~~~~~~~~
 
 .. automodule:: jaxsim.api.references
     :members:
+    :no-index:
 
 Common
 ~~~~~~

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/docs/modules/rbda.rst

@@ -10,49 +10,29 @@ This module provides a set of algorithms for rigid body dynamics.
 
     aba
     collidable_points
+    contacts.soft
     crba
     forward_kinematics
     jacobian
     utils
 
-Articulated Body Algorithm
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.aba
-    :members:
-
 Collision Detection
 ~~~~~~~~~~~~~~~~~~~
 
 .. automodule:: jaxsim.rbda.collidable_points
     :members:
+    :no-index:
 
 Contact Models
 ~~~~~~~~~~~~~~
 
 .. automodule:: jaxsim.rbda.contacts.soft
     :members:
-
-Composite Rigid Body Algorithm
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.crba
-    :members:
-
-Forward Kinematics
-~~~~~~~~~~~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.forward_kinematics
-    :members:
-
-Jacobians
-~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.jacobian
-    :members:
+    :no-index:
 
 Utilities
 ~~~~~~~~~
 
 .. automodule:: jaxsim.rbda.utils
     :members:
+    :no-index:

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/environment.yml

@@ -38,6 +38,7 @@ dependencies:
   - filecache
   - filelock
   - jinja2
+  - myst-nb
   - pip
   - sphinx
   - sphinx-autodoc-typehints
@@ -45,6 +46,7 @@ dependencies:
   - sphinx-copybutton
   - sphinx-design
   - sphinx_fontawesome
+  - sphinx-gallery
   - sphinx-jinja2-compat
   - sphinx-multiversion
   - sphinx_rtd_theme
@@ -52,4 +54,7 @@ dependencies:
   # ========================================
   # Other dependencies for GitHub Codespaces
   # ========================================
+  - mesalib
   - ipython
+  - pip:
+    - sphinx-collections # TODO (flferretti): PR to conda-forge

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/examples/PD_controller.ipynb

@@ -20,7 +20,8 @@
    "outputs": [],
    "source": [
     "# @title Imports and setup\n",
-    "from IPython.display import clear_output, HTML, display\n",
+    "from IPython.display import clear_output\n",
+    "import os\n",
     "import sys\n",
     "\n",
     "IS_COLAB = \"google.colab\" in sys.modules\n",
@@ -34,16 +35,18 @@
     "    !apt -qq update\n",
     "    !apt install -qq --no-install-recommends libsdformat13 gz-tools2\n",
     "\n",
-    "    # Optional dependency for visualization\n",
+    "    # Install dependencies for visualization on Colab and ReadTheDocs\n",
+    "    !sudo apt update\n",
+    "    !apt install xvfb ffmpeg python-opengl\n",
     "    !{sys.executable} -m pip install pyvirtualdisplay\n",
-    "    !apt install xvfb\n",
+    "    clear_output()\n",
     "\n",
     "    # Start Xvfb and set \"DISPLAY\" environment variable\n",
     "    import pyvirtualdisplay\n",
+    "\n",
     "    d = pyvirtualdisplay.Display()\n",
     "    d.start()\n",
     "\n",
-    "    clear_output()\n",
     "\n",
     "import jax\n",
     "import jax.numpy as jnp\n",
@@ -100,6 +103,8 @@
     "from jaxsim import integrators\n",
     "\n",
     "dt = 0.01\n",
+    "integration_time = 5.0\n",
+    "num_steps = int(integration_time / dt)\n",
     "\n",
     "model = js.model.JaxSimModel.build_from_model_description(\n",
     "    model_description=model_urdf_string, is_urdf=True\n",
@@ -149,19 +154,11 @@
    "outputs": [],
    "source": [
     "# @title Set up MuJoCo renderer\n",
-    "\n",
-    "from jaxsim.mujoco import RodModelToMjcf, MujocoModelHelper, MujocoVideoRecorder\n",
-    "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
-    "\n",
-    "import os\n",
     "import subprocess\n",
     "\n",
+    "os.environ[\"MUJOCO_GL\"] = \"osmesa\"\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",
@@ -186,7 +183,11 @@
     "  \"\"\"\n",
     "            )\n",
     "\n",
-    "%env MUJOCO_GL=egl\n",
+    "    os.environ[\"MUJOCO_GL\"] = \"egl\"\n",
+    "\n",
+    "\n",
+    "from jaxsim.mujoco import MujocoModelHelper, MujocoVideoRecorder\n",
+    "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
     "\n",
     "camera = {\n",
     "    \"name\": \"cartpole_camera\",\n",
@@ -207,8 +208,8 @@
     "    model=mj_model_helper.model,\n",
     "    data=mj_model_helper.data,\n",
     "    fps=int(1 / 0.010),\n",
-    "    width=320 * 4,\n",
-    "    height=240 * 4,\n",
+    "    width=320 * 2,\n",
+    "    height=240 * 2,\n",
     ")"
    ]
   },
@@ -227,7 +228,7 @@
    "source": [
     "import mediapy as media\n",
     "\n",
-    "for _ in range(500):\n",
+    "for _ in range(num_steps):\n",
     "    data, integrator_state = js.model.step(\n",
     "        dt=dt,\n",
     "        model=model,\n",
@@ -299,7 +300,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "for _ in range(500):\n",
+    "for _ in range(num_steps):\n",
     "    control_torques = pd_controller(\n",
     "        data=data,\n",
     "        q_d=jnp.array([0.0, 0.0]),\n",

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/examples/Parallel_computing.ipynb

@@ -23,8 +23,6 @@
     "# @title Imports and setup\n",
     "import sys\n",
     "\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",
@@ -40,15 +38,12 @@
     "%env XLA_PYTHON_CLIENT_MEM_PREALLOCATE=false\n",
     "\n",
     "import time\n",
-    "from typing import Dict, Tuple\n",
     "\n",
     "import jax\n",
     "import jax.numpy as jnp\n",
-    "import jax_dataclasses\n",
     "import rod\n",
     "from rod.builder.primitives import SphereBuilder\n",
     "\n",
-    "import jaxsim.typing as jtp\n",
     "from jaxsim import logging\n",
     "\n",
     "logging.set_logging_level(logging.LoggingLevel.INFO)\n",
@@ -105,7 +100,7 @@
     "from jaxsim import integrators\n",
     "\n",
     "dt = 0.001\n",
-    "integration_time = 1500\n",
+    "integration_time = 1.5  # seconds\n",
     "\n",
     "model = js.model.JaxSimModel.build_from_model_description(\n",
     "    model_description=model_sdf_string\n",
@@ -129,7 +124,9 @@
     "\n",
     "By default, in JaxSim a sphere primitive has 250 collision points. This can be modified by setting the `JAXSIM_COLLISION_SPHERE_POINTS` environment variable.\n",
     "\n",
-    "Given that at its steady-state the sphere will act on two or three points, we can estimate the ground parameters by explicitly setting the number of active points to these values."
+    "Given that at its steady-state the sphere will act on two or three points, we can estimate the ground parameters by explicitly setting the number of active points to these values. \n",
+    "\n",
+    "Eventually, you can specify the maximum penetration depth of the sphere into the terrain by passing `max_penetraion` to the `estimate_good_soft_contacts_parameters` function."
    ]
   },
   {
@@ -139,8 +136,10 @@
    "outputs": [],
    "source": [
     "data = data.replace(\n",
-    "    soft_contacts_params=js.contact.estimate_good_soft_contacts_parameters(\n",
-    "        model, number_of_active_collidable_points_steady_state=3\n",
+    "    contacts_params=js.contact.estimate_good_soft_contacts_parameters(\n",
+    "        model=model,\n",
+    "        number_of_active_collidable_points_steady_state=3,\n",
+    "        max_penetration=None,\n",
     "    )\n",
     ")"
    ]
@@ -149,7 +148,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "Let's create a position vector for a 3x3 grid. Every sphere will be placed at a different height."
+    "Let's create a position vector for a 4x4 grid. Every sphere will be placed at a different height."
    ]
   },
   {
@@ -169,14 +168,13 @@
     "def grid(edge_len, envs_per_row):\n",
     "    edge = jnp.linspace(-edge_len, edge_len, envs_per_row)\n",
     "    xx, yy = jnp.meshgrid(edge, edge)\n",
-    "\n",
-    "    poses = [\n",
-    "        [[xx[i, j], yy[i, j], 0.2 + 0.1 * (i * envs_per_row + j)], [0, 0, 0]]\n",
-    "        for i in range(xx.shape[0])\n",
-    "        for j in range(yy.shape[0])\n",
-    "    ]\n",
-    "\n",
-    "    return jnp.array(poses)\n",
+    "    zz = 0.2 + 0.1 * (\n",
+    "        jnp.arange(envs_per_row**2) % envs_per_row\n",
+    "        + jnp.arange(envs_per_row**2) // envs_per_row\n",
+    "    )\n",
+    "    zz = zz.reshape(envs_per_row, envs_per_row)\n",
+    "    poses = jnp.stack([xx, yy, zz], axis=-1).reshape(envs_per_row**2, 3)\n",
+    "    return poses\n",
     "\n",
     "\n",
     "logging.info(f\"Simulating {envs_per_row**2} environments\")\n",
@@ -200,11 +198,13 @@
     "def simulate(\n",
     "    data: js.data.JaxSimModelData, integrator_state: dict, pose: jnp.array\n",
     ") -> tuple:\n",
-    "\n",
+    "    # Set the base position to the initial pose\n",
     "    data = data.reset_base_position(base_position=pose)\n",
+    "\n",
+    "    # Create a list to store the base position over time\n",
     "    x_t_i = []\n",
     "\n",
-    "    for _ in range(integration_time):\n",
+    "    for _ in range(int(integration_time // dt)):\n",
     "        data, integrator_state = js.model.step(\n",
     "            dt=dt,\n",
     "            model=model,\n",
@@ -243,7 +243,7 @@
     "# Run and time the simulation\n",
     "now = time.perf_counter()\n",
     "\n",
-    "x_t = simulate_vectorized(data, integrator_state, poses[:, 0])\n",
+    "x_t = simulate_vectorized(data, integrator_state, poses)\n",
     "\n",
     "comp_time = time.perf_counter() - now\n",
     "\n",
@@ -251,7 +251,7 @@
     "    f\"Running simulation with {envs_per_row**2} models took {comp_time} seconds.\"\n",
     ")\n",
     "logging.info(\n",
-    "    f\"This corresponds to an RTF (Real Time Factor) of {(envs_per_row**2 *integration_time/comp_time):.2f}\"\n",
+    "    f\"This corresponds to an RTF (Real Time Factor) of {(envs_per_row**2 * integration_time / comp_time):.2f}\"\n",
     ")"
    ]
   },

{jaxsim-0.3.1.dev64 → jaxsim-0.3.1.dev113}/examples/README.md

@@ -5,11 +5,10 @@ This folder includes a Jupyter Notebook demonstrating the practical usage of JAX
 ### 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.
+  <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.
+  <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!