v1.7, tagbot

Author: thowell

.github/workflows/CI.yml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       matrix:
         version:
-          - '1.6'
+          - '1.7'
         os:
           - ubuntu-latest
 #           - macOS-latest
@@ -26,11 +26,6 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-#       - name: Add registries
-#         run: |
-#           julia --color=yes -e 'using Pkg; pkg"registry add https://github.com/JuliaRegistries/General.git"'
-#           julia --color=yes -e 'using Pkg; pkg"registry add https://github.com/Lyceum/LyceumRegistry.git"'
-#         shell: bash
       - uses: julia-actions/julia-runtest@latest
       - uses: julia-actions/julia-uploadcodecov@latest
         env:

.github/workflows/TagBot.yml

@@ -0,0 +1,15 @@
+name: TagBot
+on:
+  issue_comment:
+    types:
+      - created
+  workflow_dispatch:
+jobs:
+  TagBot:
+    if: github.event_name == 'workflow_dispatch' || github.actor == 'JuliaTagBot'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: JuliaRegistries/TagBot@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          ssh: ${{ secrets.DOCUMENTER_KEY }}

README.md

@@ -3,11 +3,12 @@
 [![](https://img.shields.io/badge/docs-dev-blue.svg)](https://dojo-sim.github.io/Dojo.jl/dev)
 
 # Dojo
-A differentiable physics simulator for robotics
+A differentiable simulator for robotics
 - arXiv preprint: https://arxiv.org/abs/2203.00806
 - Python interface: https://github.com/dojo-sim/dojopy
-- Site: https://sites.google.com/view/dojo-sim
-# Examples (RSS 2022)
+- site: https://sites.google.com/view/dojo-sim
+
+# Examples
 
 ## Simulation
 

test/Manifest.toml

@@ -1,210 +1,225 @@
 # This file is machine-generated - editing it directly is not advised
 
-[[ArgTools]]
+julia_version = "1.7.2"
+manifest_format = "2.0"
+
+[[deps.ArgTools]]
 uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f"
 
-[[ArrayInterface]]
+[[deps.ArrayInterface]]
 deps = ["Compat", "IfElse", "LinearAlgebra", "Requires", "SparseArrays", "Static"]
-git-tree-sha1 = "e527b258413e0c6d4f66ade574744c94edef81f8"
+git-tree-sha1 = "9f8186bc19cd1c129d367cb667215517cc03e144"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "3.1.40"
+version = "5.0.1"
 
-[[Artifacts]]
+[[deps.Artifacts]]
 uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 
-[[Base64]]
+[[deps.Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
-[[BenchmarkTools]]
+[[deps.BenchmarkTools]]
 deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"]
-git-tree-sha1 = "61adeb0823084487000600ef8b1c00cc2474cd47"
+git-tree-sha1 = "4c10eee4af024676200bc7752e536f858c6b8f93"
 uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
-version = "1.2.0"
+version = "1.3.1"
 
-[[Compat]]
+[[deps.Compat]]
 deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
-git-tree-sha1 = "dce3e3fea680869eaa0b774b2e8343e9ff442313"
+git-tree-sha1 = "96b0bc6c52df76506efc8a441c6cf1adcb1babc4"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "3.40.0"
+version = "3.42.0"
+
+[[deps.CompilerSupportLibraries_jll]]
+deps = ["Artifacts", "Libdl"]
+uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
 
-[[Dates]]
+[[deps.Dates]]
 deps = ["Printf"]
 uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
 
-[[DelimitedFiles]]
+[[deps.DelimitedFiles]]
 deps = ["Mmap"]
 uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
 
-[[Distributed]]
+[[deps.Distributed]]
 deps = ["Random", "Serialization", "Sockets"]
 uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 
-[[Downloads]]
+[[deps.Downloads]]
 deps = ["ArgTools", "LibCURL", "NetworkOptions"]
 uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
 
-[[FiniteDiff]]
+[[deps.FiniteDiff]]
 deps = ["ArrayInterface", "LinearAlgebra", "Requires", "SparseArrays", "StaticArrays"]
-git-tree-sha1 = "8b3c09b56acaf3c0e581c66638b85c8650ee9dca"
+git-tree-sha1 = "56956d1e4c1221000b7781104c58c34019792951"
 uuid = "6a86dc24-6348-571c-b903-95158fe2bd41"
-version = "2.8.1"
+version = "2.11.0"
 
-[[IfElse]]
+[[deps.IfElse]]
 git-tree-sha1 = "debdd00ffef04665ccbb3e150747a77560e8fad1"
 uuid = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 version = "0.1.1"
 
-[[InteractiveUtils]]
+[[deps.InteractiveUtils]]
 deps = ["Markdown"]
 uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
-[[JSON]]
+[[deps.JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
-git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37"
+git-tree-sha1 = "3c837543ddb02250ef42f4738347454f95079d4e"
 uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
-version = "0.21.2"
+version = "0.21.3"
 
-[[LibCURL]]
+[[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
 
-[[LibCURL_jll]]
+[[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
 
-[[LibGit2]]
+[[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
 uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 
-[[LibSSH2_jll]]
+[[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
 
-[[Libdl]]
+[[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
-[[LinearAlgebra]]
-deps = ["Libdl"]
+[[deps.LinearAlgebra]]
+deps = ["Libdl", "libblastrampoline_jll"]
 uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
-[[Logging]]
+[[deps.Logging]]
 uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
-[[Markdown]]
+[[deps.Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
-[[MbedTLS_jll]]
+[[deps.MbedTLS_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1"
 
-[[Mmap]]
+[[deps.Mmap]]
 uuid = "a63ad114-7e13-5084-954f-fe012c677804"
 
-[[MozillaCACerts_jll]]
+[[deps.MozillaCACerts_jll]]
 uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
 
-[[NetworkOptions]]
+[[deps.NetworkOptions]]
 uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 
-[[Parsers]]
+[[deps.OpenBLAS_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"]
+uuid = "4536629a-c528-5b80-bd46-f80d51c5b363"
+
+[[deps.Parsers]]
 deps = ["Dates"]
-git-tree-sha1 = "ae4bbcadb2906ccc085cf52ac286dc1377dceccc"
+git-tree-sha1 = "85b5da0fa43588c75bb1ff986493443f821c70b7"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.1.2"
+version = "2.2.3"
 
-[[Pkg]]
+[[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 
-[[Printf]]
+[[deps.Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
-[[Profile]]
+[[deps.Profile]]
 deps = ["Printf"]
 uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
 
-[[REPL]]
+[[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
 uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
 
-[[Random]]
-deps = ["Serialization"]
+[[deps.Random]]
+deps = ["SHA", "Serialization"]
 uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
-[[Requires]]
+[[deps.Requires]]
 deps = ["UUIDs"]
-git-tree-sha1 = "4036a3bd08ac7e968e27c203d45f5fff15020621"
+git-tree-sha1 = "838a3a4188e2ded87a4f9f184b4b0d78a1e91cb7"
 uuid = "ae029012-a4dd-5104-9daa-d747884805df"
-version = "1.1.3"
+version = "1.3.0"
 
-[[SHA]]
+[[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
 
-[[SafeTestsets]]
+[[deps.SafeTestsets]]
 deps = ["Test"]
 git-tree-sha1 = "36ebc5622c82eb9324005cc75e7e2cc51181d181"
 uuid = "1bc83da4-3b8d-516f-aca4-4fe02f6d838f"
 version = "0.0.1"
 
-[[Serialization]]
+[[deps.Serialization]]
 uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
 
-[[SharedArrays]]
+[[deps.SharedArrays]]
 deps = ["Distributed", "Mmap", "Random", "Serialization"]
 uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"
 
-[[Sockets]]
+[[deps.Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 
-[[SparseArrays]]
+[[deps.SparseArrays]]
 deps = ["LinearAlgebra", "Random"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
-[[Static]]
+[[deps.Static]]
 deps = ["IfElse"]
-git-tree-sha1 = "e7bc80dc93f50857a5d1e3c8121495852f407e6a"
+git-tree-sha1 = "87e9954dfa33fd145694e42337bdd3d5b07021a6"
 uuid = "aedffcd0-7271-4cad-89d0-dc628f76c6d3"
-version = "0.4.0"
+version = "0.6.0"
 
-[[StaticArrays]]
+[[deps.StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "3c76dde64d03699e074ac02eb2e8ba8254d428da"
+git-tree-sha1 = "74fb527333e72ada2dd9ef77d98e4991fb185f04"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.2.13"
+version = "1.4.1"
 
-[[Statistics]]
+[[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
 uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
-[[TOML]]
+[[deps.TOML]]
 deps = ["Dates"]
 uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76"
 
-[[Tar]]
+[[deps.Tar]]
 deps = ["ArgTools", "SHA"]
 uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e"
 
-[[Test]]
+[[deps.Test]]
 deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
-[[UUIDs]]
+[[deps.UUIDs]]
 deps = ["Random", "SHA"]
 uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
-[[Unicode]]
+[[deps.Unicode]]
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
-[[Zlib_jll]]
+[[deps.Zlib_jll]]
 deps = ["Libdl"]
 uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
 
-[[nghttp2_jll]]
+[[deps.libblastrampoline_jll]]
+deps = ["Artifacts", "Libdl", "OpenBLAS_jll"]
+uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
+
+[[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
 
-[[p7zip_jll]]
+[[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0"

test/behaviors.jl

@@ -34,8 +34,8 @@ end
             opts=SolverOptions(btol=1e-6, rtol=1e-6,
             verbose=false))
 
-        @test norm(storage.v[1][end], Inf) < 1e-12
-        @test norm(storage.x[1][end][3] - 0.25, Inf) < 1e-3
+        @test norm(storage.v[1][end], Inf) < 1.0e-8
+        @test norm(storage.x[1][end][3] - 0.25, Inf) < 1.0e-3
     end
 end
 

test/data.jl

@@ -25,7 +25,7 @@ function test_get_set_data(mechanism::Mechanism)
     data0 = rand(Nd)
     Dojo.set_data!(mechanism, data0)
     data1 = Dojo.get_data(mechanism)
-    @test norm(data0 - data1) < 1e-10
+    @test norm(data0 - data1) < 1.0e-8
 end
 
 @testset "get and set data" begin
@@ -132,7 +132,7 @@ function test_data_system(model::Symbol;
 
 	# Test
 	@testset "Data Jacobian: $(String(model))" begin
-		@test norm(datajac0 - datajac1, Inf) < 1e-6
+		@test norm(datajac0 - datajac1, Inf) < 1.0e-6
 	end
     return nothing
 end