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Alignment with latest jaxsim development #32

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b800074
WIP
flferretti Jan 22, 2025
6ab8fbb
Add log of compilation time in jaxsim_walking.ipynb
xela-95 Jan 22, 2025
33373d8
Add wall time logging and statistics to jaxsim_walking.ipynb
xela-95 Jan 22, 2025
ea94231
Minor chnges in jaxsim_walking.ipynb
xela-95 Jan 22, 2025
0f3591d
Add mjxSimulator.py
xela-95 Jan 22, 2025
91c9404
Add mjx_walking notebook
xela-95 Jan 22, 2025
a8f55ea
Integrate media rendering and visualization enhancements in MJXSimulator
xela-95 Jan 22, 2025
adc3e51
Remove outputs from mjx_walking
xela-95 Jan 22, 2025
502243e
Add LFS tracking for URDF files in .gitattributes
xela-95 Jan 23, 2025
ecb39d9
Add `stickbot_mjx.urdf` model
xela-95 Jan 23, 2025
a0361ad
Refactor mjx_walking notebook to improve URDF file handling and imports
xela-95 Jan 23, 2025
c421cf8
Refactor JaxsimSimulator
xela-95 Jan 24, 2025
9d5aff6
Fix mass calculation in jaxsim_walking notebook to use model gravity
xela-95 Jan 24, 2025
4e1812e
fix jaxsim simulator with latest jaxsim development
Feb 4, 2025
8ed78b5
Merge branch 'main' into sprint/dev
CarlottaSartore Feb 13, 2025
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99 changes: 79 additions & 20 deletions examples/jaxsim_walking.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
Expand Down Expand Up @@ -115,14 +115,14 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"# ==== Set simulation parameters ====\n",
"\n",
"T = 6.0\n",
"js_dt = 0.000_5"
"js_dt = 0.001"
]
},
{
Expand All @@ -148,7 +148,7 @@
"source": [
"# ==== Define JaxSim simulator and set initial position ====\n",
"\n",
"js = JaxsimSimulator(dt=js_dt, contact_model_type=JaxsimContactModelEnum.RIGID)\n",
"js = JaxsimSimulator(dt=js_dt, contact_model_type=JaxsimContactModelEnum.RELAXED_RIGID)\n",
"js.load_model(\n",
" robot_model=robot_model_init,\n",
" s=s_0,\n",
Expand All @@ -165,7 +165,7 @@
"print(f\"Contact model in use: {js._model.contact_model}\")\n",
"print(f\"Link names:\\n{js.link_names}\")\n",
"print(f\"Frame names:\\n{js.frame_names}\")\n",
"print(f\"Mass: {js.total_mass*js._data.standard_gravity()} N\")"
"print(f\"Mass: {-js.total_mass*js._model.gravity} N\")"
]
},
{
Expand Down Expand Up @@ -197,11 +197,30 @@
"# Set desired quantities\n",
"mpc.configure(s_init=s_0, H_b_init=H_b_0)\n",
"tsid.compute_com_position()\n",
"mpc.define_test_com_traj(tsid.COM.toNumPy())\n",
"\n",
"mpc.define_test_com_traj(tsid.COM.toNumPy())"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
"# Set initial robot state and plan trajectories\n",
"\n",
"tic = time.perf_counter()\n",
"\n",
"js.step(dry_run=True)\n",
"\n",
"step_compilation_time_s = time.perf_counter() - tic"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [],
"source": [
"# Reading the state\n",
"s_js, ds_js, tau_js = js.get_state()\n",
"H_b = js.base_transform\n",
Expand All @@ -215,7 +234,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 9,
"metadata": {},
"outputs": [],
"source": [
Expand Down Expand Up @@ -245,6 +264,7 @@
" tau_tsid_log = []\n",
" W_p_CoM_tsid_log = []\n",
" t_log = []\n",
" wall_time_step_log = []\n",
"\n",
" # Define number of steps\n",
" n_step_tsid_js = int(tsid.frequency / js_dt)\n",
Expand Down Expand Up @@ -309,16 +329,20 @@
"\n",
" # Step the simulator\n",
" js.set_input(tau_tsid)\n",
"\n",
" tic = time.perf_counter()\n",
" js.step(n_step=n_step_tsid_js)\n",
" toc = time.perf_counter() - tic\n",
"\n",
" counter = counter + 1\n",
"\n",
" if counter == n_step_mpc_tsid:\n",
" counter = 0\n",
"\n",
" # Stop the simulation if the robot fell down\n",
" if js._data.base_position()[2] < 0.5:\n",
" print(f\"Robot fell down at t={t:.4f}s.\")\n",
" break\n",
" # if js._data.base_position()[2] < 0.5:\n",
" # print(f\"Robot fell down at t={t:.4f}s.\")\n",
" # break\n",
"\n",
" # Log data\n",
" # TODO transform mpc contact forces to wrenches to be compared with jaxsim ones\n",
Expand All @@ -336,6 +360,7 @@
" W_p_lf_sfp_log.append(lf_sfp.transform.translation())\n",
" W_p_rf_sfp_log.append(rf_sfp.transform.translation())\n",
" W_p_CoM_tsid_log.append(tsid.COM.toNumPy())\n",
" wall_time_step_log.append(toc * 1e3)\n",
" if contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
" f_lf_js, f_rf_js = js.feet_wrench\n",
" f_lf_js_log.append(f_lf_js)\n",
Expand All @@ -360,6 +385,7 @@
" \"W_p_lf_sfp\": np.array(W_p_lf_sfp_log),\n",
" \"W_p_rf_sfp\": np.array(W_p_rf_sfp_log),\n",
" \"W_p_CoM_tsid\": np.array(W_p_CoM_tsid_log),\n",
" \"wall_time_step\": np.array(wall_time_step_log),\n",
" }\n",
" if contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
" logs[\"f_lf_js\"] = np.array(f_lf_js_log)\n",
Expand All @@ -385,19 +411,16 @@
"avg_iter_time_ms = (wall_time / (T / js_dt)) * 1000\n",
"\n",
"print(\n",
" f\"\\nRunning simulation took {wall_time:.2f}s for {T:.3f}s simulated time. \\nIteration avg time of {avg_iter_time_ms:.1f} ms.\"\n",
")\n",
"print(f\"RTF: {T / wall_time * 100:.2f}%\")"
" f\"\\nSimulation done.\\nRunning simulation took {wall_time:.2f}s for {T:.3f}s simulated time.\"\n",
")"
]
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 11,
"metadata": {},
"outputs": [],
"source": [
"# ==== Plot the results ====\n",
"\n",
"# Extract logged variables\n",
"t = logs[\"t\"]\n",
"s_js = logs[\"s_js\"]\n",
Expand All @@ -412,9 +435,45 @@
"W_p_lf_sfp = logs[\"W_p_lf_sfp\"]\n",
"W_p_rf_sfp = logs[\"W_p_rf_sfp\"]\n",
"W_p_CoM_tsid = logs[\"W_p_CoM_tsid\"]\n",
"wall_time_step = logs[\"wall_time_step\"]\n",
"if js.contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
" f_lf_js = logs[\"f_lf_js\"]\n",
" f_rf_js = logs[\"f_rf_js\"]\n",
" f_rf_js = logs[\"f_rf_js\"]"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"# Compute simulator step runtime statistics and RTF\n",
"\n",
"min_step_time = np.min(wall_time_step)\n",
"max_step_time = np.max(wall_time_step)\n",
"avg_step_time = np.mean(wall_time_step)\n",
"std_step_time = np.std(wall_time_step)\n",
"total_step_time = np.sum(wall_time_step)\n",
"rtf = (T * 1e3) / total_step_time * 100\n",
"\n",
"print(\"===========================================\")\n",
"print(f\"Step compilation time: {step_compilation_time_s:.2f} s\")\n",
"print(f\"Min step time: {min_step_time:.2f} ms\")\n",
"print(f\"Max step time: {max_step_time:.2f} ms\")\n",
"print(f\"Average step time: {avg_step_time:.2f} ms\")\n",
"print(f\"Std deviation step time: {std_step_time:.2f} ms\")\n",
"print(f\"RTF: {rtf:.1f}%\")\n",
"print(\"===========================================\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"# ==== Plot the results ====\n",
"\n",
"\n",
"n_sim_steps = s_js.shape[0]\n",
"s_0 = np.full_like(a=s_js, fill_value=s_0)\n",
Expand Down Expand Up @@ -577,7 +636,7 @@
],
"metadata": {
"kernelspec": {
"display_name": "comodo",
"display_name": "comododev",
"language": "python",
"name": "python3"
},
Expand All @@ -591,7 +650,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.13"
"version": "3.10.15"
}
},
"nbformat": 4,
Expand Down
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