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Add JAXsim Notebook for PD Controller with Gravity Compensation #63
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…olab (#7) * Request GPU on colab * Workaround MuJoCo URDF parser bug * Remove JAX installation and update `IS_COLAB` flag --------- Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
For some reason, Moreover, I dropped GPU rendering for fyi @traversaro |
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Drop GPU Mujoco rendering as it is not needed. `__cuda` is not available for `pixi` for some reason, so I dropped CUDNN dependency
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Did you added the |
Opened issue upstream on this: prefix-dev/pixi#590 . |
Anyhow, this is not blocking. |
Just to understand, how is the notebook supposed to be use now? pixi, Colab or both? |
Thanks Silvio, I'll give it a try. The example can currently run on both Colab and Jupyter using |
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The comment above was solved by changing the channels order in the < channels = ["nvidia", "conda-forge"]
> channels = ["conda-forge", "nvidia"] Thus, this downloads XlaRuntimeError: FAILED_PRECONDITION: Couldn't get ptxas/nvlink version string: INTERNAL: Couldn't invoke ptxas --version Which I solved by:
C.C. @traversaro |
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Cool! Hopefully once the CUDA 12 migration is completed, we can just install ptxas as well from conda-forge. |
Ok, just a small comment: at least of early 2024, you do not need to actually specify |
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Thanks @flferretti ! Just some minor comments (in the meanwhile we can start merging):
- In the notebook the cartpole.urdf still refers to my branch, it should refer instead to the master branch of jaxsim
- Is the notebook meant to be use with both pixi and colab? Could it make sense to have a mini README explaining how to launch it with pixi?
- Not sure how we can do, but we should make the install step (at least the one involving apt) dependent on whater the notebook runs on colab? When using pixi on a local machine, the apt commands will fail, I guess. The alternative (as done for ffmpeg) is to use bash to only apt install ffmpeg if the ffmpeg command is not available
- On the pixi side, perhaps we should install gazebo to ensure that rod's URDF support works fine?
P.s. do you have any idea how I can comment by line the notebook?
Thanks @traversaro! For what regards:
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Great, thanks! For me it is good to go. |
This PR will add a notebook with
pixi
support as a quickstart to the basic features of JAXsim.In particular, the example will concern the creation of a PD controller with gravity compensation for a 2 DoFs cartpole system.