From ff74624bf593b89eeaa4bb8dc85bb9facde13b5b Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Mon, 8 Jan 2024 10:38:57 +0100
Subject: [PATCH] Add examples' README and rename `pixi run` command

---
 examples/README.md | 39 +++++++++++++++++++++++++++++++++++++++
 examples/pixi.toml |  2 +-
 2 files changed, 40 insertions(+), 1 deletion(-)
 create mode 100644 examples/README.md

diff --git a/examples/README.md b/examples/README.md
new file mode 100644
index 000000000..0915eb84d
--- /dev/null
+++ b/examples/README.md
@@ -0,0 +1,39 @@
+# JAXsim Notebook Examples
+
+This folder includes a Jupyter Notebook demonstrating practical usage of JAXsim for system simulations.
+
+### Examples
+
+- [PD_controller](./PD_controller.ipynb) - A simple example demonstrating the use of JAXsim to simulate a PD controller with gravity compensation for a 2-DOF cartpole.
+
+> [!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:
+
+1. **Install `pixi`:** 
+
+As per the [official documentation](https://pixi.sh/#installation):
+
+```bash
+curl -fsSL https://pixi.sh/install.sh | bash 
+```
+
+2. **Run the Example Notebook:**
+
+Use `pixi run <notebook_name>` to execute the example notebook locally, e.g.:
+
+```bash
+pixi run PD_controller
+```
+
+This command will automatically handle the installation of necessary dependencies and execute the examples within a self-contained environment
\ No newline at end of file
diff --git a/examples/pixi.toml b/examples/pixi.toml
index df7af2bea..4229fe34c 100644
--- a/examples/pixi.toml
+++ b/examples/pixi.toml
@@ -11,8 +11,8 @@ cuda = "12"
 unix = true
 
 [tasks]
+PD_controller = {cmd = "jupyter notebook PD_controller.ipynb", depends_on = ["install"]}
 install = "python -m pip install git+https://github.com/ami-iit/jaxsim.git"
-notebook = {cmd = "jupyter notebook PD_controller.ipynb", depends_on = ["install"]}
 
 [dependencies]
 cuda-nvcc = {channel = "nvidia", version = ">=12.3,<12.4"}