generate examples

Author: thowell

deps/build.jl

@@ -7,29 +7,4 @@ using Pkg
 exampledir = joinpath(@__DIR__, "..", "examples")
 Pkg.activate(exampledir)
 Pkg.add("Literate")
-include(joinpath(exampledir, "generate_notebooks.jl"))
-
-################################################################################
-# Dynamics and simulation generation
-################################################################################
-# Add minimal set of packages
-Pkg.add(PackageSpec(name = "FileIO", version = "1.9"))
-Pkg.add(PackageSpec(name = "ForwardDiff", version = "0.10"))
-Pkg.add(PackageSpec(name = "IfElse", version = "0.1"))
-Pkg.add(PackageSpec(name = "JLD2", version = "0.4"))
-Pkg.add(PackageSpec(name = "Rotations", version = "1.0"))
-Pkg.add(PackageSpec(name = "StaticArrays", version = "1.2"))
-Pkg.add(PackageSpec(name = "Symbolics", version = "0.1.29"))
-Pkg.add(PackageSpec(name = "LinearAlgebra"))
-
-# Load minimal set of packages and scripts
-loaderdir = joinpath(@__DIR__, "..", "src", "code_gen_loader.jl")
-include(loaderdir)
-
-# Generate dynamics expressions
-dynamicsdir = joinpath(@__DIR__, "..", "src", "dynamics")
-include(joinpath(dynamicsdir, "generate_dynamics.jl"))
-
-# # Generate simulation expressions
-simulationdir = joinpath(@__DIR__, "..", "src", "simulation")
-include(joinpath(simulationdir, "generate_simulation.jl"))
+include(joinpath(exampledir, "generate_notebooks.jl"))

examples/README.md

@@ -2,9 +2,9 @@
 
 This directory contains examples of contact-implicit model-predictive control.
 The `.jl` files in each subdirectory are meant to be processed using [Literate.jl](https://github.com/fredrikekre/Literate.jl).
-During the build process, the `.jl` files are converted to notebooks and we generate models and simulation environments for each of the examples. Please note that the build time may take 30-60 minutes, but only needs to be performed once during the initial installation.
+During the build process, the `.jl` files are converted to notebooks. 
 
-You can generate Jupyter notebooks and run them locally by performing the following steps:
+The initial installation of the package includes a number of pre-generated examples: [flamingo](examples/flamingo/flat.jl), [pushbot](examples/pushbot/push_recovery.jl), [hopper](examples/hopper/flat.jl), and [quadruped](examples/quadruped/flat.jl). You can generate Jupyter notebooks and run them locally by performing the following steps:
 
 1. [install ContactImplicitMPC.jl](https://github.com/thowell/ContactImplicitMPC.jl)
 2. [install IJulia](https://github.com/JuliaLang/IJulia.jl) (`add` it to the default project)
@@ -19,3 +19,9 @@ You can generate Jupyter notebooks and run them locally by performing the follow
    notebook(dir=joinpath(dirname(pathof(ContactImplicitMPC)), "..", "examples"))
    ```
 
+Additional examples can be run by first generating the models and simulations. Note that this may take 30-60 minutes.
+
+5. in the Julia REPL, run 
+   ```
+   include(joinpath(dirname(pathof(ContactImplicitMPC)), "..", "examples/generate_examples.jl"))
+   ```

examples/generate_examples.jl

@@ -0,0 +1,10 @@
+################################################################################
+# Dynamics and simulation generation
+################################################################################
+# Generate dynamics
+dynamicsdir = joinpath(@__DIR__, "..", "src", "dynamics")
+include(joinpath(dynamicsdir, "generate_dynamics.jl"))
+
+# Generate simulation
+simulationdir = joinpath(@__DIR__, "..", "src", "simulation")
+include(joinpath(simulationdir, "generate_simulation.jl"))

src/dynamics/flamingo/dynamics/dynamics.jld2

@@ -20,7 +20,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -45,7 +45,7 @@ instantiate_dynamics!(s.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(s.model, s.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(s, path_res, path_jac)
 
 ################################################################################
@@ -70,7 +70,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -95,7 +95,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -120,7 +120,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -145,7 +145,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -170,7 +170,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -195,7 +195,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -222,7 +222,7 @@ instantiate_dynamics!(sim.model, path_dyn, derivs = true)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env, jacobians = :approx)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac, jacobians = :approx)
 
 ################################################################################
@@ -247,7 +247,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -272,7 +272,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -297,7 +297,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -322,7 +322,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -347,7 +347,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -372,7 +372,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env, jacobians = :full)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -399,7 +399,7 @@ instantiate_dynamics!(sim.model, path_dyn, derivs = true)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env, jacobians = :approx)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac, jacobians = :approx)
 
 ################################################################################
@@ -424,7 +424,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -449,7 +449,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -474,7 +474,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -501,10 +501,10 @@ instantiate_dynamics!(sim.model, path_dyn, derivs=true)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env, jacobians = :approx)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac, jacobians = :approx)
 
-# ################################################################################
+################################################################################
 # PushBot
 ################################################################################
 dir_model = joinpath(module_dir(), "src/dynamics/pushbot")
@@ -526,7 +526,7 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)
 
 ################################################################################
@@ -551,5 +551,5 @@ instantiate_dynamics!(sim.model, path_dyn)
 expr_res, rz_sp, rθ_sp = generate_residual_expressions(sim.model, sim.env, mapping = Gz_func)
 save_expressions(expr_res, path_res, overwrite=true)
 isfile(path_jac) && rm(path_jac)
-save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
+ContactImplicitMPC.JLD2.save(path_jac, "rz_sp", rz_sp, "rθ_sp", rθ_sp)
 instantiate_residual!(sim, path_res, path_jac)