wip

examples/PD_controller.ipynb

@@ -36,12 +36,13 @@
     "    !apt -qq update\n",
     "    !apt install -qq --no-install-recommends libsdformat13 gz-tools2\n",
     "\n",
-    "    # Optional dependency for visualization\n",
+    "# Install dependencies for visualization on Colab and ReadTheDocs\n",
+    "if IS_COLAB or IS_RTD:\n",
+    "    !sudo apt update\n",
+    "    !apt install xvfb ffmpeg python-opengl\n",
     "    !{sys.executable} -m pip install pyvirtualdisplay\n",
-    "    !apt install xvfb\n",
     "    clear_output()\n",
     "\n",
-    "if IS_COLAB or IS_RTD:\n",
     "    # Start Xvfb and set \"DISPLAY\" environment variable\n",
     "    import pyvirtualdisplay\n",
     "\n",
@@ -156,18 +157,11 @@
    "source": [
     "# @title Set up MuJoCo renderer\n",
     "\n",
-    "from jaxsim.mujoco import MujocoModelHelper, MujocoVideoRecorder\n",
-    "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
-    "\n",
     "import os\n",
     "import subprocess\n",
     "\n",
     "\n",
     "if IS_COLAB:\n",
-    "    if subprocess.run(\"ffmpeg -version\", shell=True).returncode:\n",
-    "        !command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "        clear_output()\n",
-    "\n",
     "    if subprocess.run(\"nvidia-smi\").returncode:\n",
     "        raise RuntimeError(\n",
     "            \"Cannot communicate with GPU. \"\n",
@@ -194,6 +188,9 @@
     "\n",
     "%env MUJOCO_GL=egl\n",
     "\n",
+    "from jaxsim.mujoco import MujocoModelHelper, MujocoVideoRecorder\n",
+    "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
+    "\n",
     "camera = {\n",
     "    \"name\": \"cartpole_camera\",\n",
     "    \"mode\": \"fixed\",\n",