Merge branch 'main' of https://github.com/DojoSim/Dojo.jl into main

Author: simon-lc

Project.toml

@@ -8,44 +8,38 @@ BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
-IterativeLQR = "605048dd-e178-462b-beb9-98a09398ef27"
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 LaTeXStrings = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
 LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LightXML = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-LineSearches = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 Meshing = "e6723b4c-ebff-59f1-b4b7-d97aa5274f73"
-Optim = "429524aa-4258-5aef-a3af-852621145aeb"
-PGFPlots = "3b7a836e-365b-5785-a47d-02c71176b4aa"
-PGFPlotsX = "8314cec4-20b6-5062-9cdb-752b83310925"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Polyhedra = "67491407-f73d-577b-9b50-8179a7c68029"
-PyPlot = "d330b81b-6aea-500a-939a-2ce795aea3ee"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 Scratch = "6c6a2e73-6563-6170-7368-637461726353"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
-Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Colors = "<0.12.6, 0.12.6"
 DocStringExtensions = "<0.8.3, 0.8.3"
-FiniteDiff = "2.7.2"
+FFMPEG = "0.4.1"
 GeometryBasics = "0.3"
-IterativeLQR = "0.1.1"
+JLD2 = "0.4.21"
+LaTeXStrings = "1.3.0"
+LightGraphs = "1.3.5"
 LightXML = "<0.9.0, 0.9.0"
 MeshCat = "0.13.0 - 0.13.0"
 Meshing = "0.5.7"
 Parameters = "0.12"
+Polyhedra = "0.6.18"
 Rotations = "1.0.2 - 1.0.2"
 Scratch = "1.1"
 StaticArrays = "0.12, 1.0"

docs/src/assets/logo.png

@@ -27,7 +27,7 @@ The following people are involved in the development of Dojo:
 __Primary Development__
 * [Simon Le Cleac'h](https://simon-lc.github.io/) (main developement, contact modeling, interior-point solver, gradients)
 * [Taylor Howell](https://thowell.github.io/) (main developement, contact modeling, interior-point solver, gradients)
-* [Jan Bruedigam](https://github.com/janbruedigam) (main developemnt, maximal representation and graph-based solver)
+* [Jan Bruedigam](https://github.com/janbruedigam) (main development, maximal representation and graph-based solver)
 
 
 * [Zico Kolter](https://zicokolter.com/)

docs/src/index.md

@@ -187,7 +187,7 @@ end
 ################################################################################
 # Compute trajectory
 ################################################################################
-# vis=visualizer()
+# vis= Visualizer()
 # open(vis)
 
 # mech = get_mechanism(:atlas, timestep=0.05, model_type=:armless, damper=1000.0)

environments/atlas/methods/template.jl

@@ -1,5 +1,5 @@
 
-vis=visualizer()
+vis= Visualizer()
 open(vis)
 include("env.jl")
 include("initialize.jl")

environments/rexhopper/methods/demo.jl

@@ -1,6 +1,11 @@
 [deps]
 IterativeLQR = "605048dd-e178-462b-beb9-98a09398ef27"
 Literate = "98b081ad-f1c9-55d3-8b20-4c87d4299306"
+PGFPlots = "3b7a836e-365b-5785-a47d-02c71176b4aa"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [compat]
+IterativeLQR = "0.1.1"
 Literate = "2.13.0"
+Plots = "1.25.11"
+PGFPlots = "3.4.1"

examples/Project.toml

@@ -0,0 +1,37 @@
+using PGFPlots
+const PGF = PGFPlots
+
+color = ["magenta", "orange", "cyan"];
+p_energy = [PGF.Plots.Linear([j * timestep[i] for j = 1:length(e)], e .- e[1], legendentry="h=$(timestep[i])", mark="none",style="color="*color[i]*", line width=2pt, solid") for (i, e) in enumerate(me)]
+
+a1 = Axis(vcat(p_energy...),
+    xmin=0,
+    xmax=10.0,
+    hideAxis=false,
+	ylabel="energy drift",
+	xlabel="time (s)",
+    legendPos="south east")
+dir = joinpath("/home/taylor/Downloads")
+PGF.save(joinpath(dir, "energy_drift.tikz"), a1)
+
+##########
+# Visualization
+color = RGBA(255.0/255.0,0.0,255.0,1.0);
+z = get_maximal_state(storage)
+z = [[z[1] for t = 1:100]..., z..., [z[end] for t = 1:100]...]
+build_robot(mech, vis=vis, color=color)
+T = length(z)
+anim = MeshCat.Animation(convert(Int, floor(1.0 / timestep0)))
+for t = 1:T
+    MeshCat.atframe(anim, t) do
+        set_robot(vis, mech, z[t])
+    end
+end
+MeshCat.setanimation!(vis, anim)
+setvisible!(vis["/Axes"], false)
+setvisible!(vis["/Grid"], false)
+
+# Ghost
+t = 400 # 225, 150, 1
+set_robot(vis, mech, z[t])
+##########

examples/animations/generate/astronaut_energy.jl

@@ -0,0 +1,122 @@
+# PGFPlot
+using PGFPlotsX
+using LaTeXStrings
+
+mj_plin_plot = @pgf PlotInc({thick, "color=orange", "mark options={orange}"}, Table(speed_mj, plin_mj))
+dj_plin_plot = @pgf PlotInc({thick, "color=cyan", "mark options={cyan}"}, Table(speed_dj, plin_dj))
+mj_pang_plot = @pgf PlotInc({thick, "color=orange", "mark options={orange}"}, Table(speed_mj, pang_mj))
+dj_pang_plot = @pgf PlotInc({thick, "color=cyan", "mark options={cyan}"}, Table(speed_dj, pang_dj))
+mj_legend = LegendEntry(raw"MuJoCo")
+dj_legend = LegendEntry(raw"Dojo")
+
+axs1 = @pgf LogLogAxis({
+		ymin=1e-15,
+		ymax=1e1,
+		title="linear momentum",
+		xlabel=raw"$\times$ faster than real time",
+		ylabel="N.s",
+		},
+		dj_plin_plot, dj_legend, mj_plin_plot, mj_legend,
+		)
+
+axs2 = @pgf LogLogAxis({
+		ymin=1e-15,
+		ymax=1e1,
+		title="angular momentum",
+		xshift=-20.0,
+		# ticks="none",
+		yticklabels={},
+		xlabel=raw"$\times$ faster than real time",
+		# ylabel="(N.s)",
+		},
+		dj_pang_plot, dj_legend, mj_pang_plot, mj_legend,
+		)
+
+gp = @pgf PGFPlotsX.GroupPlot(
+    {group_style = {group_size="2 by 1"},
+	legend_style = {nodes="{scale=0.70, transform shape}", anchor="east", at="{(0.95,0.35)}"},
+    y_label_style={at="{(axis description cs:-0.00,.5)}", anchor="north"},
+	# height = "6cm",
+	# width = "6cm",
+	# no_markers,
+	# xlabel=raw"$\times$ faster than real time",
+	# legend_pos="north west",
+    },
+    axs1, axs2)
+
+filename = joinpath(@__DIR__, "figures/astronaut_momentum.tikz")
+pgfsave(filename, gp; include_preamble = true, dpi = 150)
+
+
+# PGFPlot
+using PGFPlotsX
+using LaTeXStrings
+
+mj_ener_plot1 = @pgf PlotInc({very_thick, "color=orange", "mark options={orange}"},
+	Table(range(0,stop=100,length=length(ener_traj_mj[1])),
+		ener_traj_mj[1]))
+mj_ener_plot2 = @pgf PlotInc({very_thick, "color=orange", "mark options={orange}"},
+	Table(range(0,stop=100,length=length(ener_traj_mj[2])),
+		ener_traj_mj[2]))
+mj_ener_plot3 = @pgf PlotInc({very_thick, "color=orange", "mark options={orange}"},
+	Table(range(0,stop=100,length=length(ener_traj_mj[3])),
+		ener_traj_mj[3]))
+
+dj_ener_plot1 = @pgf PlotInc({very_thick, "color=cyan", "mark options={orange}"},
+	Table(range(0,stop=100,length=length(ener_traj_dj[1])),
+		ener_traj_dj[1]))
+dj_ener_plot2 = @pgf PlotInc({very_thick, "color=cyan", "mark options={orange}"},
+	Table(range(0,stop=100,length=length(ener_traj_dj[2])),
+		ener_traj_dj[2]))
+dj_ener_plot3 = @pgf PlotInc({very_thick, "color=cyan", "mark options={orange}"},
+	Table(range(0,stop=100,length=length(ener_traj_dj[3])),
+		ener_traj_dj[3]))
+
+mj_legend = LegendEntry(raw"MuJoCo")
+dj_legend = LegendEntry(raw"Dojo")
+
+
+axs1 = @pgf Axis({
+		title=raw"simulation rate $10$ Hz",
+		ylabel="energy J",
+		xticklabels={},
+		},
+		dj_ener_plot1, dj_legend, mj_ener_plot1, mj_legend,
+		)
+
+axs2 = @pgf Axis({
+		title=raw"simulation rate $100$ Hz",
+		ylabel="energy J",
+		yshift=13.0,
+		xticklabels={},
+		},
+		dj_ener_plot2, dj_legend, mj_ener_plot2, mj_legend,
+		)
+
+axs3 = @pgf Axis({
+		title=raw"simulation rate $1000$ Hz",
+		xlabel="time s",
+		ylabel="energy J",
+		yshift=13.0,
+		},
+		dj_ener_plot3, dj_legend, mj_ener_plot3, mj_legend,
+		)
+
+gp = @pgf PGFPlotsX.GroupPlot(
+    {group_style = {group_size="1 by 3"},
+	legend_style = {nodes="{scale=0.70, transform shape}"},
+	title_style={at="{(axis description cs:+0.5,0.95)}", anchor="south"},
+	y_label_style={at="{(axis description cs:+0.05,0.5)}", anchor="north"},
+    x_label_style={at="{(axis description cs:+0.5,0.15)}", anchor="north"},
+	xmin=0,
+	xmax=100,
+	height = "3.5cm",
+	width = "7.5cm",
+	no_markers,
+	# xlabel=raw"$\times$ faster than real time",
+	legend_pos="north west",
+    },
+    axs1, axs2, axs3)
+
+filename = joinpath(@__DIR__, "figures/astronaut_energy.tikz")
+pgfsave(filename, gp; include_preamble = true, dpi = 150)