Merge branch 'main' into benchmark_example

Author: janbruedigam

.github/workflows/CI.yml

@@ -9,15 +9,15 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
-#    if: ${{ contains(github.event.head_commit.message, 'run_ci') }}
     strategy:
       matrix:
         version:
-          - '1.7'
+          - '1.6' # LTS
+          - '1' # Current Stable
         os:
           - ubuntu-latest
-#           - macOS-latest
-#           - windows-latest
+          - macOS-latest
+          - windows-latest
         arch:
           - x64
     steps:
@@ -26,6 +26,7 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
+      # - uses: julia-actions/julia-buildpkg@latest
       - uses: julia-actions/julia-runtest@latest
       - uses: julia-actions/julia-uploadcodecov@latest
         env:

.github/workflows/Documenter.yml

@@ -14,7 +14,7 @@ jobs:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@latest
         with:
-          version: '1.6'
+          version: '1'
       - name: Install dependencies
         run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy

.github/workflows/dailyCI.yml

@@ -6,10 +6,13 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
+    continue-on-error: ${{ matrix.version == 'nightly'}}
     strategy:
       matrix:
         version:
-          - '1.6'
+          - '1.6' # LTS
+          - '1' # Current Stable
+          - 'nightly' # Upcoming
         os:
           - ubuntu-latest
           - macOS-latest
@@ -22,6 +25,7 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
+      # - uses: julia-actions/julia-buildpkg@latest
       - uses: julia-actions/julia-runtest@latest
       - uses: julia-actions/julia-uploadcodecov@latest
         env:

Project.toml

@@ -1,6 +1,6 @@
 name = "Dojo"
 uuid = "ac60b53e-8d92-4c83-b960-e78698fa1916"
-authors = ["simonlc <simonlc@stanford.edu>", "thowell <thowell@stanford.edu>", "Jan Bruedigam"]
+authors = ["simonlc <simonlc@stanford.edu>", "thowell <thowell@stanford.edu>", "Jan Bruedigam <jan.bruedigam@tum.de>"]
 version = "0.1.0"
 
 [deps]
@@ -43,3 +43,12 @@ Quaternions = "<0.5.3, 0.5.3"
 Scratch = "1.1"
 StaticArrays = "1.2"
 julia = "1.6, 1.7"
+
+[extras]
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+
+[targets]
+test = ["BenchmarkTools", "FiniteDiff", "Rotations", "Test"]

environments/ant/methods/env.jl

@@ -41,7 +41,7 @@ function ant(;
         nx = maximal_dimension(mechanism)
     end
     nu = 8
-    no = nx
+    no = nx + length(mechanism.contacts)
 
     aspace = BoxSpace(nu, 
         low=(-ones(nu)), 

environments/box/methods/env.jl

@@ -22,15 +22,15 @@ function block(;
     opts_grad=SolverOptions(rtol=3.0e-4, btol=3.0e-4, undercut=1.5),
     T=Float64)
 
-    mechanism = get_box(
+    mechanism = get_block(
         timestep=timestep, 
         gravity=gravity, 
         friction_coefficient=friction_coefficient, 
         side=side, 
         contact=contact, 
         contact_type=contact_type)
 
-    initialize_box!(mechanism)
+    initialize_block!(mechanism)
 
     if representation == :minimal
         nx = minimal_dimension(mechanism)

environments/box/methods/initialize.jl

@@ -1,4 +1,4 @@
-function get_box(; 
+function get_block(; 
     timestep=0.01, 
     gravity=[0.0; 0.0; -9.81],
     friction_coefficient=0.8, 
@@ -58,7 +58,7 @@ function get_box(;
     return mech
 end
 
-function initialize_box!(mechanism::Mechanism{T};
+function initialize_block!(mechanism::Mechanism{T};
         x=[0.0, 0.0, 1.0],
         q=Quaternion(1.0, 0.0, 0.0, 0.0),
         v=[1.0, 0.3, 0.2],

environments/hopper/methods/env.jl

@@ -39,7 +39,7 @@ function hopper(;
         nx = maximal_dimension(mechanism)
     end
     nu = 3
-    no = nx
+    no = nx - 1 # full_state is not being returned by default 
 
     # values taken from Mujoco's model, combining the control range -1, 1 and the motor gears.
     aspace = BoxSpace(nu, 
@@ -140,7 +140,7 @@ function cost(env::Environment{Hopper}, x, u;
     return c
 end
 
-function is_done(::Environment{Hopper}, x)
+function is_done(env::Environment{Hopper}, x)
     nx = minimal_dimension(env.mechanism)
     if env.representation == :minimal
         x0 = x

environments/rexhopper/methods/env.jl

@@ -93,7 +93,7 @@ function Base.reset(env::Environment{RexHopper};
     else
         # initialize above the ground to make sure that with random initialization we do not violate the ground constraint.
         initialize!(env.mechanism, :rexhopper)
-        x0 = get_minimal_state(env.mechanism)
+        x = get_minimal_state(env.mechanism)
         nx = minimal_dimension(env.mechanism)
         z = minimal_to_maximal(env.mechanism, x)
         set_maximal_state!(env.mechanism, z)

environments/walker/methods/env.jl

@@ -39,7 +39,7 @@ function walker(;
         nx = maximal_dimension(mechanism)
     end
     nu = 6
-    no = nx
+    no = nx-1 # full_state is false by default
 
     # values taken from Mujoco's model, combining the control range -1, 1 and the motor gears.
     aspace = BoxSpace(nu, 
@@ -136,7 +136,7 @@ function cost(env::Environment{Walker}, x, u;
     return c
 end
 
-function is_done(::Environment{Walker}, x)
+function is_done(env::Environment{Walker}, x)
     nx = minimal_dimension(env.mechanism)
     if env.representation == :minimal
         x0 = x