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fix pixi installation errors ami-iit#34 (#5) #36

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fix pixi installation errors ami-iit#34 (#5) #36

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95b01f9
fix pixi installation errors ami-iit#34 (#5)
akhilsathuluri Jul 26, 2025
48f8712
Update pyproject.toml
akhilsathuluri Aug 1, 2025
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9 changes: 0 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -68,15 +68,6 @@ conda install -c conda-forge -c robotology casadi pytest liecasadi meshcat-pyth
pip install --no-deps git+https://github.com/ami-iit/hippopt.git
```

#### With Drake

To use [`drake`](https://drake.mit.edu/) as the simulator backend requires the following additional dependencies:

```bash
conda install meshio tqdm
pip install drake git+https://github.com/ami-iit/amo_urdf
```

### 📦 Installation with pixi

An alternative and easy way to use comodo is with [`pixi`](https://pixi.sh/latest/) package manager. It automatically handles the creation and activation of virtual environments in which to use the different simulators that comodo supports.
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6 changes: 3 additions & 3 deletions examples/drake_walking.ipynb
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Expand Up @@ -316,7 +316,7 @@
],
"metadata": {
"kernelspec": {
"display_name": "comodo_jaxsim",
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
Expand All @@ -330,9 +330,9 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.16"
"version": "3.12.11"
}
},
"nbformat": 4,
"nbformat_minor": 2
"nbformat_minor": 4
}
6 changes: 3 additions & 3 deletions examples/jaxsim_walking.ipynb
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Expand Up @@ -577,7 +577,7 @@
],
"metadata": {
"kernelspec": {
"display_name": "comodo",
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
Expand All @@ -591,9 +591,9 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.13"
"version": "3.12.11"
}
},
"nbformat": 4,
"nbformat_minor": 2
"nbformat_minor": 4
}
4 changes: 2 additions & 2 deletions pixi.lock
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4 changes: 2 additions & 2 deletions pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -85,13 +85,13 @@ tqdm = "*"

[tool.pixi.feature.hippopt.dependencies]
liecasadi = "*"
ffmepg-python = "*"
ffmpeg-python = "*"
meshcat-python = "*"

[tool.pixi.feature.hippopt.pypi-dependencies]
hippopt = { git = "git+https://github.com/ami-iit/hippopt.git"}

[environments]
[tool.pixi.environments]
jaxsim = { features = ["jaxsim"], solve-group = "default" }
mujoco = { features = ["mujoco"], solve-group = "default" }
drake = { features = ["drake"], solve-group = "default" }
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4 changes: 2 additions & 2 deletions src/comodo/jaxsimSimulator/jaxsimSimulator.py
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Expand Up @@ -12,7 +12,7 @@
import jaxsim.rbda.contacts
import numpy as np
import numpy.typing as npt
from jaxsim import VelRepr, integrators
from jaxsim import VelRepr
from jaxsim.mujoco import MujocoVideoRecorder
from jaxsim.mujoco.loaders import UrdfToMjcf
from jaxsim.mujoco.model import MujocoModelHelper
Expand Down Expand Up @@ -66,7 +66,7 @@ def __init__(

# Step aux dict.
# This is used only for variable-step integrators.
self._step_aux_dict: dict[str, Any]= {}
self._step_aux_dict: dict[str, Any] = {}

# Time step for the simulation
self._dt: float = dt
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