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

Author: simon-lc

README.md

@@ -3,7 +3,7 @@
 [![](https://img.shields.io/badge/docs-dev-blue.svg)](https://dojo-sim.github.io/Dojo.jl/dev)
 
 # Dojo
-A differentiable simulator for robotics.
+A differentiable simulator for robotics
 
 # Examples (RSS 2022)
 

docs/make.jl

@@ -4,7 +4,7 @@ using Documenter, Dojo
 
 makedocs(
     modules = [Dojo],
-    format = Documenter.HTML(prettyurls = false),
+    format = Documenter.HTML(prettyurls=false),
     sitename = "Dojo",
     pages = [
         ##############################################

environments/atlas/methods/env.jl

@@ -21,7 +21,8 @@ function atlas(;
     name=:robot,
     infeasible_control=false,
     opts_step=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5),
-    opts_grad=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5)) where T
+    opts_grad=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5),
+    T=Float64)
 
     mechanism = get_mechanism(:atlas, 
         timestep=timestep, 

environments/atlas/methods/initialize.jl

@@ -223,7 +223,7 @@ function initialize_atlas!(mechanism::Mechanism;
     return nothing
 end
 
-function initialize_atlasstance!(mechanism::Mechanism;
+function initialize_atlas_stance!(mechanism::Mechanism;
     body_position=[0.0, 0.0, 0.2],
     body_orientation=[0.0, 0.0, 0.0],
     link_linear_velocity=[zeros(3)  for i=1:length(mechanism.bodies)],

environments/box/methods/env.jl

@@ -19,7 +19,8 @@ function block(;
     name::Symbol=:robot,
     control_scaling=Diagonal(ones(3)),
     opts_step=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5), 
-    opts_grad=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5)) where T
+    opts_grad=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5),
+    T=Float64)
 
     mechanism = get_box(
         timestep=timestep, 

environments/box2d/methods/env.jl renamed to environments/box2D/methods/env.jl

@@ -1,9 +1,9 @@
 ################################################################################
 # Box (2D)
 ################################################################################
-struct Box2d end
+struct Box2D end
 
-function box2d(; 
+function box2D(; 
     representation=:minimal, 
     timestep=0.05, 
     gravity=[0.0; 0.0; -9.81], 
@@ -18,12 +18,12 @@ function box2d(;
     opts_grad=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5),
     T=Float64)
 
-    mechanism = get_mechanism(:box2d, 
+    mechanism = get_mechanism(:box2D, 
         timestep=timestep, 
         gravity=gravity,
         friction_coefficient=friction_coefficient)
 
-    initialize!(mechanism, :box2d)
+    initialize!(mechanism, :box2D)
 
     if representation == :minimal
         nx = minimal_dimension(mechanism)

environments/box2d/methods/initialize.jl renamed to environments/box2D/methods/initialize.jl

@@ -1,12 +1,12 @@
-function get_box2d(; 
+function get_box2D(; 
     timestep=0.01, 
     gravity=[0.0; 0.0; -9.81], 
     friction_coefficient=0.8, 
     radius=0.0, 
     side=0.5,
     contact=true,
     contact_type=:nonlinear,
-    mode=:box2d,
+    mode=:box2D,
     T=Float64) 
 
     # Parameters
@@ -23,15 +23,15 @@ function get_box2d(;
         # Corner vectors
         if mode == :particle
             corners = [[0.0, 0.0, 0.0]]
-        elseif mode == :box2d
+        elseif mode == :box2D
             corners = [
                 [[0.0,  side / 2.0,  side / 2.0]]
                 [[0.0,  side / 2.0, -side / 2.0]]
                 [[0.0, -side / 2.0,  side / 2.0]]
                 [[0.0, -side / 2.0, -side / 2.0]]
             ]
         else
-            @error "incorrect mode specified, try :particle or :box2d"
+            @error "incorrect mode specified, try :particle or :box2D"
         end
         n = length(corners)
         normal = [[0.0, 0.0, 1.0] for i = 1:n]
@@ -55,7 +55,7 @@ function get_box2d(;
     return mech
 end
 
-function initialize_box2d!(mechanism::Mechanism{T}; 
+function initialize_box2D!(mechanism::Mechanism{T}; 
     position=[0.0, 1.0],
     linear_velocity=[0.0, 0.0], 
     orientation=0.0, 

environments/cartpole/methods/env.jl

@@ -16,7 +16,8 @@ function cartpole(;
     name=:robot,
     control_scaling=Diagonal(ones(1)),
     opts_step=SolverOptions(), 
-    opts_grad=SolverOptions()) where T
+    opts_grad=SolverOptions(),
+    T=Float64)
 
     mechanism = get_cartpole(
         timestep=timestep, 

environments/cartpole/methods/initialize.jl

@@ -2,7 +2,8 @@ function get_cartpole(;
     timestep=0.1, 
     gravity=[0.0; 0.0; -9.81], 
     spring=0.0, 
-    damper=0.0) where T
+    damper=0.0,
+    T=Float64)
 
     # Parameters
     slider_axis = [0.0; 1.0; 0.0]

environments/dzhanibekov/methods/initialize.jl

@@ -1,7 +1,8 @@
 function get_dzhanibekov(;
     timestep=0.01,
     gravity=-9.81,
-    color=RGBA(0.9,0.9,0.9,1)) where T
+    color=RGBA(0.9,0.9,0.9,1),
+    T=Float64)
 
     radius = 0.1
     body_length = 1.0