build fix run_ci

Author: thowell

README.md

@@ -2,9 +2,9 @@
 [![CI](https://github.com/thowell/ContactImplicitMPC.jl/actions/workflows/CI.yml/badge.svg)](https://github.com/thowell/ContactImplicitMPC.jl/actions/workflows/CI.yml)
 [![codecov](https://codecov.io/gh/thowell/ContactImplicitMPC.jl/branch/main/graph/badge.svg?token=3J4VOJ0VCH)](https://codecov.io/gh/thowell/ContactImplicitMPC.jl)
 
-This repository contains the algorithms and examples from our paper: [Fast Contact-Implicit Model-Predictive Control](https://arxiv.org/abs/2107.05616).
+This repository contains algorithms and examples from our paper: [Fast Contact-Implicit Model-Predictive Control](https://arxiv.org/abs/2107.05616).
 
-We are currently cleaning up the examples for public consumption. At this stage, please try: [flamingo](examples/flamingo/flat.jl), [pushbot](examples/pushbot/push_recovery.jl), [hopper](examples/hopper/flat.jl), and [quadruped](examples/quadruped/flat.jl). Notebooks can be [generated](examples/README.md) for the examples.
+Notebooks can be generated for the [examples](examples/README.md), please try: [flamingo](examples/flamingo/flat.jl), [pushbot](examples/pushbot/push_recovery.jl), [hopper](examples/hopper/flat.jl), and [quadruped](examples/quadruped/flat.jl). 
 
 ## Installation
 ```

deps/build.jl

@@ -9,27 +9,27 @@ Pkg.activate(exampledir)
 Pkg.add("Literate")
 include(joinpath(exampledir, "generate_notebooks.jl"))
 
-# ################################################################################
-# # Code 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"))
+################################################################################
+# 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", "loader.jl")
-# include(loaderdir)
+# 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 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_simulation2.jl"))
+simulationdir = joinpath(@__DIR__, "..", "src", "simulation")
+include(joinpath(simulationdir, "generate_simulation.jl"))

examples/README.md

@@ -1,11 +1,10 @@
 # ContactImplicitMPC.jl examples
 
-This directory contains various ContactImplicitMPC.jl examples.
+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 documentation build process, the `.jl` files are converted to markdown
-files that end up in the package documentation.
+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.
 
-You can also generate Jupyter notebooks and run them locally by performing the following steps:
+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)
@@ -15,15 +14,7 @@ You can also generate Jupyter notebooks and run them locally by performing the f
    Pkg.build("ContactImplicitMPC")
    using IJulia, ContactImplicitMPC
    ```
-4. generate dynamics (do once after installation)
-   ``` 
-   include(joinpath(dirname(pathof(ContactImplicitMPC)), "..", "src/dynamics/generate_dynamics.jl"))
-   ``` 
-5. generate simulations (do once after installation)
-   ```
-   include(joinpath(dirname(pathof(ContactImplicitMPC)), "..", "src/simulation/generate_simulation.jl"))
-   ```
-6. interact with notebooks
+4. interact with notebooks
    ```
    notebook(dir=joinpath(dirname(pathof(ContactImplicitMPC)), "..", "examples"))
    ```

src/code_gen_loader.jl

@@ -0,0 +1,56 @@
+include(joinpath(@__DIR__, ".."))
+
+using FileIO
+using ForwardDiff
+using IfElse
+using JLD2
+using LinearAlgebra
+using Rotations
+using StaticArrays
+using Symbolics
+
+# Utilities
+include("utils.jl")
+
+# Solver
+include("solver/cones.jl")
+
+# Environment
+include("simulator/environment.jl")
+
+# Dynamics
+include("dynamics/model.jl")
+
+# Simulator
+include("simulation/index.jl")
+
+# Simulator
+include("simulation/contact_methods.jl")
+include("simulation/simulation.jl")
+include("simulator/trajectory.jl")
+
+include("dynamics/code_gen_dynamics.jl")
+include("dynamics/fast_methods_dynamics.jl")
+
+# # Models
+include("dynamics/quaternions.jl")
+
+include("dynamics/particle_2D/model.jl")
+include("dynamics/particle/model.jl")
+include("dynamics/hopper_2D/model.jl")
+include("dynamics/hopper_3D/model.jl")
+include("dynamics/quadruped/model.jl")
+include("dynamics/flamingo/model.jl")
+include("dynamics/pushbot/model.jl")
+include("dynamics/rigidbody/model.jl")
+
+# Simulation
+include("simulation/environments/flat.jl")
+include("simulation/environments/piecewise.jl")
+include("simulation/environments/quadratic.jl")
+include("simulation/environments/slope.jl")
+include("simulation/environments/sinusoidal.jl")
+include("simulation/environments/stairs.jl")
+
+include("simulation/residual_approx.jl")
+include("simulation/code_gen_simulation.jl")