more documentation

Author: thowell

docs/make.jl

@@ -2,16 +2,6 @@ push!(LOAD_PATH, "../src/")
 
 using Documenter#, Dojo
 
-# # copy animations from src/examples/animations to docs/src/animations
-# path_doc_animations = joinpath(@__DIR__, "src/animations")
-# !isdir(path_doc_animations) && mkdir(path_doc_animations)
-# path_animations = joinpath(@__DIR__, "../examples/animations")
-# files = readdir(path_animations)
-# filter!(x -> endswith(x, ".gif"), files)
-# for file in files
-#     cp(joinpath(path_animations, file), joinpath(path_doc_animations, file))
-# end
-
 makedocs(
     modules = [Dojo],
     format = Documenter.HTML(prettyurls = false),

environments/dynamics.jl

@@ -1,16 +1,46 @@
-################################################################################
-# Step
-################################################################################
+"""
+	dynamics(y, env, x, u, w)
+
+	evaluates an environment's dynamics (in-place)
+
+	y: state at next time step 
+	env: Environment 
+	x: state at current time step 
+	u: input 
+	w: system parameters
+"""
 function dynamics(y, env::Environment, x, u, w)
 	step(env, x, u)[1]
     y .= env.state
 end
 
+"""
+	dynamics_jacobian_state(dx, env, x, u, w)
+
+	evaluates an environment's dynamics Jacobian wrt state (in-place)
+
+	dx: state Jacobian at next time step 
+	env: Environment 
+	x: state at current time step 
+	u: input 
+	w: system parameters
+"""
 function dynamics_jacobian_state(dx, env::Environment, x, u, w)
 	step(env, x, u, diff=true)
     dx .= env.dynamics_jacobian_state
 end
 
+"""
+	dynamics_jacobian_input(du, env, x, u, w)
+
+	evaluates an environment's dynamics Jacobian wrt input (in-place)
+
+	du: input Jacobian at next time step 
+	env: Environment 
+	x: state at current time step 
+	u: input 
+	w: system parameters
+"""
 function dynamics_jacobian_input(du, env::Environment, x, u, w)
 	# step(env, x, u, diff=true) # this is run in dynamics_jacobian_state
 	du .= env.dynamics_jacobian_input

environments/environment.jl

@@ -49,10 +49,10 @@ end
 
     construct existing environment 
 
-    model: String, name of of environment 
+    model: name of of environment 
     kwargs: environment specific parameters
 """
-function get_environment(model::String; kwargs...)
+function get_environment(model; kwargs...)
     return eval(Symbol(model))(; kwargs...)
 end
 

environments/include.jl

@@ -35,5 +35,6 @@ include("hopper/methods/env.jl")
 include("pendulum/methods/env.jl")
 include("quadruped/methods/env.jl")
 include("raiberthopper/methods/env.jl")
+include("rexhopper/methods/env.jl")
 include("walker/methods/env.jl")
 include("box/methods/env.jl")

examples/animations/generate/ant.jl

@@ -16,7 +16,7 @@ MeshCat.setanimation!(env.vis, anim)
 set_camera!(env.vis, cam_pos=[0,0,90], zoom=20)
 
 # ## Ghost
-env = get_environment("ant", representation=:minimal, g=-9.81, timestep=0.05, damper=50.0, spring=25.0, friction_coefficient = 0.5,
+env = get_environment(:ant, representation=:minimal, g=-9.81, timestep=0.05, damper=50.0, spring=25.0, friction_coefficient = 0.5,
     contact=true, contact_body=true)
 open(env.vis)
 setvisible!(env.vis[:robot], false)
@@ -30,7 +30,7 @@ end
 
 
 # ## test random policy
-env = get_environment("ant", representation=:minimal, g=-9.81, timestep=0.05, damper=25.0, spring=10.0, friction_coefficient = 0.5,
+env = get_environment(:ant, representation=:minimal, g=-9.81, timestep=0.05, damper=25.0, spring=10.0, friction_coefficient = 0.5,
     contact=true, contact_body=true)
 # initialize!(env.mechanism, :ant)
 open(env.vis)

examples/animations/generate/halfcheetah.jl

@@ -14,7 +14,7 @@ end
 MeshCat.setanimation!(env.vis, anim)
 
 # ## Ghost
-env = get_environment("halfcheetah", timestep=0.05)
+env = get_environment(:halfcheetah, timestep=0.05)
 open(env.vis)
 setvisible!(env.vis[:robot], false)
 timesteps = [1, 50, 60, 70, 80, 90, 100, 108, T]
@@ -32,7 +32,7 @@ end
 
 
 ## test random policy
-env = get_environment("halfcheetah", representation=:minimal, g=-9.81, timestep=0.05)
+env = get_environment(:halfcheetah, representation=:minimal, g=-9.81, timestep=0.05)
 initialize!(env.mechanism, :halfcheetah)
 open(env.vis)
 # storage = simulate!(env.mechanism, 1.0, record=true, verbose=false)

examples/reinforcement_learning/ant_ars.jl

@@ -9,7 +9,7 @@ using LinearAlgebra
 include(joinpath(@__DIR__, "algorithms/ars.jl")) # augmented random search
 
 # ## Ant
-env = get_environment("ant", 
+env = get_environment(:ant, 
     representation=:minimal, 
     gravity=-9.81, 
     timestep=0.05, 

examples/reinforcement_learning/dev/ags_halfcheetah.jl

@@ -23,7 +23,7 @@ include("../ags.jl")
 
 
 opts_grad = SolverOptions(rtol = 1e-4, btol = 1e-3, undercut = 2.0)
-env = get_environment("halfcheetah", vis=vis, dt = 0.05, opts_grad = opts_grad)
+env = get_environment(halfcheetah", vis=vis, dt = 0.05, opts_grad = opts_grad)
 obs = reset(env)
 render(env)
 input_size = length(obs)

examples/reinforcement_learning/halfcheetah_ars.jl

@@ -9,7 +9,7 @@ using LinearAlgebra
 include(joinpath(@__DIR__, "algorithms/ars.jl")) # augmented random search
 
 # ## Environment
-env = get_environment("halfcheetah", 
+env = get_environment(:halfcheetah, 
     timestep=0.05)
 obs = reset(env)
 

examples/simulation/atlas_drop.jl

@@ -26,7 +26,7 @@ storage = simulate!(mech, 5.0,
     opts=SolverOptions(rtol=1.0e-6, btol=1.0e-6, verbose=true))
 
 # ## Visualize
-vis=visualizer()
+vis = Visualizer()
 render(vis)
 visualize(mech, storage, 
     vis=vis, show_contact=true)