jaxsim 0.4.3.dev186__tar.gz → 0.4.3.dev207__tar.gz

{jaxsim-0.4.3.dev186 → jaxsim-0.4.3.dev207}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev186
+Version: 0.4.3.dev207
 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-0.4.3.dev207/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="JaxSim as a hardware-accelerated parallel physics engine">
+
+.. only:: html
+
+    :doc:`_collections/examples/jaxsim_as_physics_engine`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">JaxSim as a hardware-accelerated parallel physics engine</div>
+    </div>
+
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbcontainer" tooltip="JaxSim for developing closed-loop robot controllers">
+
+.. only:: html
+
+    :doc:`_collections/examples/jaxsim_for_robot_controllers`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">JaxSim for developing closed-loop robot controllers</div>
+    </div>
+
+.. raw:: html
+
+    </div>

jaxsim-0.4.3.dev207/examples/README.md

@@ -0,0 +1,41 @@
+# JaxSim Examples
+
+This folder contains Jupyter notebooks that demonstrate the practical usage of JaxSim.
+
+## Featured examples
+
+| Notebook | Google Colab | Description |
+| :--- | :---: | :--- |
+| [`jaxsim_as_physics_engine.ipynb`](./jaxsim_as_physics_engine.ipynb) | [![Open In Colab][colab_badge]][ipynb_jaxsim_as_physics_engine] | An example demonstrating how to simulate vectorized models in parallel. |
+| [`jaxsim_for_robot_controllers.ipynb`](./jaxsim_for_robot_controllers.ipynb) | [![Open In Colab][colab_badge]][ipynb_jaxsim_closed_loop] | A basic example showing how to simulate a PD controller with gravity compensation for a 2-DOF cart-pole. |
+
+[colab_badge]: https://colab.research.google.com/assets/colab-badge.svg
+[ipynb_jaxsim_closed_loop]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_for_robot_controllers.ipynb
+[ipynb_jaxsim_as_physics_engine]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_physics_engine.ipynb
+
+## How to run the examples
+
+You can run the JaxSim examples with hardware acceleration in two ways.
+
+### Option 1: Google Colab (recommended)
+
+The easiest way is to use the provided Google Colab links to run the notebooks in a hosted environment
+with no setup required.
+
+### Option 2: Local execution with `pixi`
+
+To run the examples locally, first install `pixi` following the [official documentation][pixi_installation]:
+
+[pixi_installation]: https://pixi.sh/#installation
+
+```bash
+curl -fsSL https://pixi.sh/install.sh | bash
+```
+
+Then, from the repository's root directory, execute the example notebooks using:
+
+```bash
+pixi run examples
+```
+
+This command will automatically handle all necessary dependencies and run the examples in a self-contained environment.

jaxsim-0.4.3.dev207/examples/assets/build_cartpole_urdf.py

@@ -0,0 +1,202 @@
+import os
+
+if "ROD_LOGGING_LEVEL" not in os.environ:
+    os.environ["ROD_LOGGING_LEVEL"] = "WARNING"
+
+import numpy as np
+import rod.kinematics.tree_transforms
+from rod.builder import primitives
+
+if __name__ == "__main__":
+
+    # ================
+    # Model parameters
+    # ================
+
+    # Rail parameters.
+    rail_height = 1.2
+    rail_length = 5.0
+    rail_radius = 0.005
+    rail_mass = 5.0
+
+    # Cart parameters.
+    cart_mass = 1.0
+    cart_size = (0.1, 0.2, 0.05)
+
+    # Pole parameters.
+    pole_mass = 0.5
+    pole_length = 1.0
+    pole_radius = 0.005
+
+    # ========================
+    # Create the link builders
+    # ========================
+
+    rail_builder = primitives.CylinderBuilder(
+        name="rail",
+        mass=rail_mass,
+        radius=rail_radius,
+        length=rail_length,
+    )
+
+    cart_builder = primitives.BoxBuilder(
+        name="cart",
+        mass=cart_mass,
+        x=cart_size[0],
+        y=cart_size[1],
+        z=cart_size[2],
+    )
+
+    pole_builder = primitives.CylinderBuilder(
+        name="pole",
+        mass=pole_mass,
+        radius=pole_radius,
+        length=pole_length,
+    )
+
+    # =================
+    # Create the joints
+    # =================
+
+    world_to_rail = rod.Joint(
+        name="world_to_rail",
+        type="fixed",
+        parent="world",
+        child=rail_builder.name,
+        pose=primitives.PrimitiveBuilder.build_pose(
+            relative_to="world",
+        ),
+    )
+
+    linear = rod.Joint(
+        name="linear",
+        type="prismatic",
+        parent=rail_builder.name,
+        child=cart_builder.name,
+        pose=primitives.PrimitiveBuilder.build_pose(
+            relative_to=rail_builder.name,
+            pos=np.array([0, 0, rail_height]),
+        ),
+        axis=rod.Axis(
+            xyz=rod.Xyz(xyz=[0, 1, 0]),
+            limit=rod.Limit(
+                upper=(rail_length / 2 - cart_size[1] / 2),
+                lower=-(rail_length / 2 - cart_size[1] / 2),
+                effort=500.0,
+                velocity=10.0,
+            ),
+        ),
+    )
+
+    pivot = rod.Joint(
+        name="pivot",
+        type="continuous",
+        parent=cart_builder.name,
+        child=pole_builder.name,
+        pose=primitives.PrimitiveBuilder.build_pose(
+            relative_to=cart_builder.name,
+        ),
+        axis=rod.Axis(
+            xyz=rod.Xyz(xyz=[1, 0, 0]),
+            limit=rod.Limit(),
+        ),
+    )
+
+    # ================
+    # Create the links
+    # ================
+
+    rail_elements_pose = primitives.PrimitiveBuilder.build_pose(
+        pos=np.array([0, 0, rail_height]),
+        rpy=np.array([np.pi / 2, 0, 0]),
+    )
+
+    rail = (
+        rail_builder.build_link(
+            name=rail_builder.name,
+            pose=primitives.PrimitiveBuilder.build_pose(
+                relative_to=world_to_rail.name,
+            ),
+        )
+        .add_inertial(pose=rail_elements_pose)
+        .add_visual(pose=rail_elements_pose)
+        .add_collision(pose=rail_elements_pose)
+        .build()
+    )
+
+    cart = (
+        cart_builder.build_link(
+            name=cart_builder.name,
+            pose=primitives.PrimitiveBuilder.build_pose(relative_to=linear.name),
+        )
+        .add_inertial()
+        .add_visual()
+        .add_collision()
+        .build()
+    )
+
+    pole_elements_pose = primitives.PrimitiveBuilder.build_pose(
+        pos=np.array([0, 0, pole_length / 2]),
+    )
+
+    pole = (
+        pole_builder.build_link(
+            name=pole_builder.name,
+            pose=primitives.PrimitiveBuilder.build_pose(
+                relative_to=pivot.name,
+            ),
+        )
+        .add_inertial(pose=pole_elements_pose)
+        .add_visual(pose=pole_elements_pose)
+        .add_collision(pose=pole_elements_pose)
+        .build()
+    )
+
+    # ===========
+    # Build model
+    # ===========
+
+    # Create ROD in-memory model.
+    model = rod.Model(
+        name="cartpole",
+        canonical_link=rail.name,
+        link=[
+            rail,
+            cart,
+            pole,
+        ],
+        joint=[
+            world_to_rail,
+            linear,
+            pivot,
+        ],
+    )
+
+    # Update the pose elements to be closer to those expected in URDF.
+    model.switch_frame_convention(
+        frame_convention=rod.FrameConvention.Urdf, explicit_frames=True
+    )
+
+    # ==============
+    # Get SDF string
+    # ==============
+
+    # Create the top-level SDF object.
+    sdf = rod.Sdf(version="1.10", model=model)
+
+    # Generate the SDF string.
+    # sdf_string = sdf.serialize(pretty=True, validate=True)
+
+    # ===============
+    # Get URDF string
+    # ===============
+
+    import rod.urdf.exporter
+
+    # Convert the SDF to URDF.
+    urdf_string = rod.urdf.exporter.UrdfExporter(
+        pretty=True, indent="    "
+    ).to_urdf_string(sdf=sdf)
+
+    # Print the URDF string.
+    print(urdf_string)

{jaxsim-0.4.3.dev186 → jaxsim-0.4.3.dev207}/examples/assets/cartpole.urdf

@@ -1,5 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!--Create with rod using build_cartpole_model.py -->
 <robot name="cartpole">
     <link name="world"/>
     <link name="rail">
@@ -22,29 +21,29 @@
         </collision>
     </link>
     <link name="cart">
-    <inertial>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-        <mass value="1.0"/>
-        <inertia ixx="0.0035416666666666674" ixy="0.0" ixz="0.0" iyy="0.0010416666666666669" iyz="0.0" izz="0.0041666666666666675"/>
-    </inertial>
-    <visual name="cart_visual">
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-        <geometry>
-            <box size="0.1 0.2 0.05"/>
-        </geometry>
-    </visual>
-    <collision name="cart_collision">
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-        <geometry>
-            <box size="0.1 0.2 0.05"/>
-        </geometry>
-    </collision>
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="1.0"/>
+            <inertia ixx="0.0035416666666666674" ixy="0.0" ixz="0.0" iyy="0.0010416666666666669" iyz="0.0" izz="0.0041666666666666675"/>
+        </inertial>
+        <visual name="cart_visual">
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <box size="0.1 0.2 0.05"/>
+            </geometry>
+        </visual>
+        <collision name="cart_collision">
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <box size="0.1 0.2 0.05"/>
+            </geometry>
+        </collision>
     </link>
     <link name="pole">
         <inertial>
             <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0"/>
-            <mass value="0.1"/>
-            <inertia ixx="0.008333958333333334" ixy="0.0" ixz="0.0" iyy="0.008333958333333334" iyz="0.0" izz="1.25e-06"/>
+            <mass value="0.5"/>
+            <inertia ixx="0.04166979166666667" ixy="0.0" ixz="0.0" iyy="0.04166979166666667" iyz="0.0" izz="6.25e-06"/>
         </inertial>
         <visual name="pole_visual">
             <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0"/>
@@ -71,13 +70,11 @@
         <axis xyz="0 1 0"/>
         <limit effort="500.0" velocity="10.0" lower="-2.4" upper="2.4"/>
     </joint>
-    <joint name="pivot" type="revolute">
+    <joint name="pivot" type="continuous">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
         <parent link="cart"/>
         <child link="pole"/>
         <axis xyz="1 0 0"/>
-        <!-- We avoid to use -3.4028234663852886e+38 as limits as mujoco parser have some problems with this,
-             TODO(traversaro) report issue in mujoco upstream -->
-        <limit effort="500.0" velocity="10.0" lower="-100000000" upper="100000000"/>
+        <limit effort="3.4028235e+38" velocity="3.4028235e+38"/>
     </joint>
 </robot>