Add support for jaxsim simulator with examples

[xela-95]

In this PR I'm adding support for JaxSim simulator and explaining how to use its interface with a notebook similar to the ones already available for the other simulators.

[xela-95]

I'm waiting for #21 to be fixed and be able to run on a server the same notebook, but the implementation is now complete.

[flferretti]

Thanks @xela-95 for this PR! I left minor nits (non-blocking). I'm facing the following problem when running the notebook, does it reproduce also on other setups?

AttributeError                            Traceback (most recent call last)
Cell In[6], line 15
     13 step_length = 0.1
     14 mpc = CentroidalMPC(robot_model=robot_model_init, step_length=step_length)
---> 15 mpc.intialize_mpc(mpc_parameters=mpc_parameters)
     17 # Set desired quantities
     18 mpc.configure(s_init=s_0, H_b_init=H_b_0)

File ~/git/comodo/src/comodo/centroidalMPC/centroidalMPC.py:93, in CentroidalMPC.intialize_mpc(self, mpc_parameters)
     91 self.contact_0_handler.set_parameter_int("number_of_corners", 4)
     92 self.contact_0_handler.set_parameter_string("contact_name", "left_foot")
---> 93 self.contact_0_handler.set_parameter_vector_float("corner_0",self.robot_model.corner_0)
     94 self.contact_0_handler.set_parameter_vector_float("corner_1", self.robot_model.corner_1)
     95 self.contact_0_handler.set_parameter_vector_float(
     96     "corner_2", self.robot_model.corner_2
     97 )

AttributeError: 'RobotModel' object has no attribute 'corner_0'

Should be fixed by https://github.com/ami-iit/comodo/pull/20#discussion_r1797271024

[xela-95]

Thanks @xela-95 for this PR! I left minor nits (non-blocking). I'm facing the following problem when running the notebook, does it reproduce also on other setups?

Thanks for the review @diegoferigo! Since I detached this branch from a previous fork of @flferretti, I built my code on his changes, and some of them were needed for this notebook to run correctly (I had these local changes active on my machine). I will update the PR soon to include the missing changes to comodo.

[diegoferigo]

After the fix reported in https://github.com/ami-iit/comodo/pull/20#discussion_r1797271024, FYI I still get the following error, likely related to the changes you still need to port here:

In [22]: 
    ...: 
    ...: now = time.perf_counter()
    ...: 
    ...: logs = simulate(T=T, js=js, tsid=tsid, mpc=mpc, s_ref=s_0)
    ...: 
    ...: wall_time = time.perf_counter() - now
    ...: avg_iter_time_ms = (wall_time / (T / js_dt)) * 1000
    ...: 
    ...: print(
    ...:     f"\nRunning simulation took {wall_time:.2f}s for {T:.3f}s simulated time. \nIteration avg time of {avg_iter_time_ms:.1f} ms."
    ...: )
    ...: print(f"RTF: {T / wall_time * 100:.2f}%")
n_step_mpc_tsid=10, n_step_tsid_js=20
Exception during simulation at time0.0: 'CentroidalMPC' object has no attribute 'com_traj'
Traceback (most recent call last):
  File "<ipython-input-21-57d7e1812ec4>", line 52, in simulate
    mpc.update_references()
  File "/home/dferigo/git/comodo/src/comodo/centroidalMPC/centroidalMPC.py", line 215, in update_references
    self.com_traj = self.com_traj[1:]
AttributeError: 'CentroidalMPC' object has no attribute 'com_traj'

Running simulation took 0.00s for 6.000s simulated time. 
Iteration avg time of 0.0 ms.
RTF: 347104.11%

[xela-95]

@CarlottaSartore this PR is ready for your review :)

[CarlottaSartore]

Great @xela-95 thank you ! Merging !