fix simulation generation

Author: thowell

Project.toml

@@ -1,7 +1,7 @@
 name = "ContactImplicitMPC"
 uuid = "842347fd-0767-4ff8-b652-76aad5eb0a37"
 authors = ["simon-lc <simonlc@stanford.edu>", "thowell <thowell@stanford.edu>"]
-version = "0.1.4"
+version = "0.1.5"
 
 [deps]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"

README.md

@@ -4,11 +4,11 @@
 
 This repository contains algorithms and examples from our paper: [Fast Contact-Implicit Model-Predictive Control](https://arxiv.org/abs/2107.05616).
 
+A collection of examples are pre-generated in notebooks with the package, please try: [flamingo](examples/flamingo/flat.jl), [pushbot](examples/pushbot/push_recovery.jl), [hopper](examples/hopper/flat.jl), and [quadruped](examples/quadruped/flat.jl). Additional notebooks with examples from the paper can be [generated](examples/README.md).
+
 ## Installation
 - `ContactImplicitMPC` can be added via the Julia package manager (type `]`): `pkg> add ContactImplicitMPC`
 
-A collection of examples are pre-generated in notebooks with the package, please try: [flamingo](examples/flamingo/flat.jl), [pushbot](examples/pushbot/push_recovery.jl), [hopper](examples/hopper/flat.jl), and [quadruped](examples/quadruped/flat.jl). Additional notebooks for examples from the paper can be [generated](examples/README.md).
-
 ## Flamingo
 <img src="animations/flamingo.gif" alt="drawing" width="400"/>
 

examples/flamingo/Manifest.toml

@@ -807,9 +807,9 @@ version = "2.0.1"
 
 [[PlotUtils]]
 deps = ["ColorSchemes", "Colors", "Dates", "Printf", "Random", "Reexport", "Statistics"]
-git-tree-sha1 = "2537ed3c0ed5e03896927187f5f2ee6a4ab342db"
+git-tree-sha1 = "b084324b4af5a438cd63619fd006614b3b20b87b"
 uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043"
-version = "1.0.14"
+version = "1.0.15"
 
 [[Plots]]
 deps = ["Base64", "Contour", "Dates", "Downloads", "FFMPEG", "FixedPointNumbers", "GR", "GeometryBasics", "JSON", "Latexify", "LinearAlgebra", "Measures", "NaNMath", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "Requires", "Scratch", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs"]

examples/generate_examples.jl

@@ -7,9 +7,9 @@ Pkg.activate(dir)
 include(joinpath(dir, "src/code_gen_loader.jl"))
 
 # Generate dynamics
-dynamicsdir = joinpath(dir, "src", "dynamics")
+dynamicsdir = joinpath(dirname(pathof(ContactImplicitMPC)), "..", "src", "dynamics")
 include(joinpath(dynamicsdir, "generate_dynamics.jl"))
 
 # Generate simulation
-simulationdir = joinpath(dir, "src", "simulation")
+simulationdir = joinpath(dirname(pathof(ContactImplicitMPC)), "..", "src", "simulation")
 include(joinpath(simulationdir, "generate_simulation.jl"))

src/dynamics/flamingo/dynamics/dynamics.jld2

@@ -131,12 +131,11 @@ expr_dyn = generate_dynamics_expressions(model)
 save_expressions(expr_dyn, path_dyn, overwrite=true)
 instantiate_dynamics!(model, path_dyn)
 
-################################################################################
+###############################################################################
 # Rigid body
-################################################################################
+###############################################################################
 dir = joinpath(@__DIR__, "rigidbody")
 model = deepcopy(rigidbody)
-# include(joinpath(module_dir(), "src/dynamics/rigidbody/model.jl"))
 
 path_base = joinpath(dir, "dynamics/base.jld2")
 path_dyn = joinpath(dir, "dynamics/dynamics.jld2")

src/dynamics/generate_dynamics.jl

@@ -184,20 +184,3 @@ rigidbody = RigidBody(Dimensions(7, 6, 3, 1, 1),
 	10.0, [0.01, 0.01, 0.01], 9.81, 1.0, 0.25,
 	BaseMethods(), DynamicsMethods(),
 	SVector{6}(zeros(6)))
-
-#
-# @variables x
-# @variables y
-# @variables z
-# @variables λ
-#
-# @variables px
-# @variables py
-# @variables pz
-#
-# L = (px - x)^2.0 + (py - y)^2.0 + (pz - z)^2.0 + λ * (z - x^2.0 - y^2.0)
-#
-# dL = Symbolics.gradient(L, [x; y; z; λ])
-# dL = simplify.(dL)
-#
-# ddL = Symbolics.hessian(L, [x; y; z; λ])