JAXsim Notebook Examples#
This folder includes a Jupyter Notebook demonstrating the practical usage of JAXsim for system simulations.
Examples#
PD_controller
- A simple example demonstrating the use of JAXsim to simulate a PD controller with gravity compensation for a 2-DOF cartpole.Parallel_computing
- 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:
Install
pixi:
As per the official documentation:
curl -fsSL https://pixi.sh/install.sh | bash
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