mechanics, docs cleanup run_ci

Author: thowell

environments/atlas/methods/template.jl

@@ -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/rexhopper/methods/demo.jl

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

examples/animations/generate/astronaut_energy.jl

@@ -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_momentum.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)