jaxsim 0.4.2.dev28__tar.gz → 0.4.2.dev34__tar.gz

{jaxsim-0.4.2.dev28 → jaxsim-0.4.2.dev34}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2.dev28
+Version: 0.4.2.dev34
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>
 Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>

{jaxsim-0.4.2.dev28 → jaxsim-0.4.2.dev34}/examples/PD_controller.ipynb

@@ -37,16 +37,9 @@
     "\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 libosmesa6-dev\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",
     "\n",
     "import jax\n",
     "import jax.numpy as jnp\n",
@@ -154,51 +147,21 @@
    "outputs": [],
    "source": [
     "# @title Set up MuJoCo renderer\n",
-    "import subprocess\n",
-    "\n",
     "os.environ[\"MUJOCO_GL\"] = \"osmesa\"\n",
     "\n",
-    "if IS_COLAB:\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",
-    "    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",
-    "    \"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",
-    "\n",
+    "from jaxsim.mujoco.loaders import UrdfToMjcf, MujocoCamera\n",
+    "\n",
+    "mjcf_string, assets = UrdfToMjcf.convert(\n",
+    "    urdf=model.built_from,\n",
+    "    cameras=MujocoCamera.build_from_target_view(\n",
+    "        camera_name=\"cartpole_camera\",\n",
+    "        lookat=jnp.array([0.0, data.joint_positions()[0], 1.2]),\n",
+    "        distance=3,\n",
+    "        azimut=150,\n",
+    "        elevation=-10,\n",
+    "    ),\n",
+    ")\n",
     "mj_model_helper = MujocoModelHelper.build_from_xml(\n",
     "    mjcf_description=mjcf_string, assets=assets\n",
     ")\n",

{jaxsim-0.4.2.dev28 → jaxsim-0.4.2.dev34}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.2.dev28'
-__version_tuple__ = version_tuple = (0, 4, 2, 'dev28')
+__version__ = version = '0.4.2.dev34'
+__version_tuple__ = version_tuple = (0, 4, 2, 'dev34')

{jaxsim-0.4.2.dev28 → jaxsim-0.4.2.dev34}/src/jaxsim/api/references.py

@@ -30,6 +30,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
     @staticmethod
     def zero(
         model: js.model.JaxSimModel,
+        data: js.data.JaxSimModelData | None = None,
         velocity_representation: VelRepr = VelRepr.Inertial,
     ) -> JaxSimModelReferences:
         """
@@ -37,6 +38,9 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
 
         Args:
             model: The model for which to create the zero references.
+            data:
+                The data of the model, only needed if the velocity representation is
+                not inertial-fixed.
             velocity_representation: The velocity representation to use.
 
         Returns:
@@ -44,7 +48,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
         """
 
         return JaxSimModelReferences.build(
-            model=model, velocity_representation=velocity_representation
+            model=model, data=data, velocity_representation=velocity_representation
         )
 
     @staticmethod

{jaxsim-0.4.2.dev28 → jaxsim-0.4.2.dev34}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2.dev28
+Version: 0.4.2.dev34
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>
 Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>