Merge pull request #71 from ferrolho/hf/upstream-changes

Update Animation given the changes upstream in MeshCat.jl
JuliaRobotics · Dec 5, 2024 · db14860 · db14860 · ferrolho · Dec 5, 2024
2 parents 3df38b3 + 69fcb86
commit db14860
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Showing 7 changed files with 104 additions and 62 deletions.
diff --git a/.github/workflows/ci.yml → .github/workflows/CI.yml b/.github/workflows/ci.yml → .github/workflows/CI.yml
@@ -4,6 +4,7 @@ on:
     branches:
       - master
   pull_request:
+
 jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
@@ -12,26 +13,31 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.6'
+          - '1.9'
+          - '1.10'
           - '1'
         os:
           - ubuntu-latest
           - macOS-latest
           - windows-latest
         arch:
           - x64
+        include:
+          - os: macOS-latest
+            arch: arm64
+            version: 1
     steps:
-      - uses: actions/checkout@v3
-      - uses: julia-actions/setup-julia@v1
+      - uses: actions/checkout@v4
+      - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/cache@v1
+      - uses: julia-actions/cache@v2
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
         with:
           prefix: ${{ matrix.prefix }}
       - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v1
+      - uses: codecov/codecov-action@v2
         with:
           file: lcov.info
diff --git a/.github/workflows/CompatHelper.yml b/.github/workflows/CompatHelper.yml
@@ -15,7 +15,7 @@ jobs:
         run: which julia
         continue-on-error: true
       - name: Install Julia, but only if it is not already available in the PATH
-        uses: julia-actions/setup-julia@v1
+        uses: julia-actions/setup-julia@v2
         with:
           version: '1'
           arch: ${{ runner.arch }}

diff --git a/Project.toml b/Project.toml
@@ -1,6 +1,6 @@
 name = "MeshCatMechanisms"
 uuid = "6ad125db-dd91-5488-b820-c1df6aab299d"
-version = "0.9.0"
+version = "0.10.0"
 
 [deps]
 ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
@@ -15,27 +15,25 @@ OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
 
 [compat]
-ColorTypes = "0.7, 0.8, 0.9, 0.10, 0.11"
+ColorTypes = "0.7, 0.8, 0.9, 0.10, 0.11, 0.12"
 CoordinateTransformations = "0.5, 0.6"
-GeometryBasics = "0.4"
+GeometryBasics = "0.4, 0.5"
 InteractBase = "0.8, 0.9, 0.10"
-Interpolations = "0.9, 0.10, 0.11, 0.12, 0.13, 0.14"
+Interpolations = "0.9, 0.10, 0.11, 0.12, 0.13, 0.14, 0.15"
 LoopThrottle = "0.1"
-MechanismGeometries = "0.7"
-MeshCat = "0.13, 0.14, 0.15, 0.16"
+MechanismGeometries = "0.7, 0.8"
+MeshCat = "1"
 NBInclude = "1, 2"
 OrderedCollections = "1"
 RigidBodyDynamics = "2"
-ValkyrieRobot = "0.2.1"
-julia = "1.6"
+julia = "1.9"
 
 [extras]
 NBInclude = "0db19996-df87-5ea3-a455-e3a50d440464"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
-ValkyrieRobot = "c74b26e8-f247-5d24-b013-c11a2bbd97c6"
 
 [targets]
-test = ["StaticArrays", "Pkg", "NBInclude", "Test", "ValkyrieRobot", "Random"]
+test = ["StaticArrays", "Pkg", "NBInclude", "Test", "Random"]
diff --git a/examples/demo.ipynb b/examples/demo.ipynb
@@ -16,9 +16,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
+    "using CoordinateTransformations: Translation\n",
     "using MeshCat\n",
-    "using RigidBodyDynamics\n",
-    "using MeshCatMechanisms"
+    "using MeshCatMechanisms\n",
+    "using RigidBodyDynamics"
    ]
   },
   {
@@ -141,20 +142,36 @@
     "Try clicking \"Animation\" -> \"default\" -> \"play\" again in the MeshCat window. You should see the arm animation repeat, and the point and triad you've added will move as well. "
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Now let's try loading a more complex robot like NASA's Valkyrie (a humanoid robot)."
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
+    "Pkg.activate(temp=true)\n",
+    "Pkg.add(\"ValkyrieRobot\")\n",
     "using ValkyrieRobot\n",
     "\n",
     "val = Valkyrie();\n",
     "delete!(vis)\n",
-    "mvis = MechanismVisualizer(\n",
-    "    val.mechanism, \n",
-    "    URDFVisuals(ValkyrieRobot.urdfpath(), package_path=[dirname(dirname(ValkyrieRobot.urdfpath()))]),\n",
-    "    vis);"
+    "urdfvisuals = URDFVisuals(\n",
+    "    ValkyrieRobot.urdfpath(),\n",
+    "    package_path=[dirname(dirname(ValkyrieRobot.urdfpath()))])\n",
+    "mvis = MechanismVisualizer(val.mechanism, urdfvisuals, vis);"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Let's change the configuration from all zeros to a \"nominal\" configuration."
    ]
   },
   {
@@ -180,11 +197,40 @@
     "    set_configuration!(state, val.basejoint, [1; 0; 0; 0; 0; 0; 1.025])\n",
     "    nothing\n",
     "end\n",
+    "\n",
     "state = MechanismState(val.mechanism)\n",
     "initialize!(state, val)\n",
+    "\n",
     "set_configuration!(mvis, configuration(state))"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We can also visualise the inertias of the robot's individual linkages as a set of ellipsoids.\n",
+    "\n",
+    "The snippet below adds this visual representation to the 3D viewer, side-by-side with the actual robot."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "mvis = MechanismVisualizer(val.mechanism, Skeleton(), vis[:val_inertia])\n",
+    "set_configuration!(mvis, configuration(state))\n",
+    "settransform!(vis[:val_inertia], Translation(0, 2, 0))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "---"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -201,13 +247,6 @@
     "set_configuration!(vis, [0.5]) \n",
     "render(vis)"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {
@@ -216,17 +255,17 @@
    "lastKernelId": null
   },
   "kernelspec": {
-   "display_name": "Julia 1.3.1",
+   "display_name": "Julia 1.11.2",
    "language": "julia",
-   "name": "julia-1.3"
+   "name": "julia-1.11"
   },
   "language_info": {
    "file_extension": ".jl",
    "mimetype": "application/julia",
    "name": "julia",
-   "version": "1.3.1"
+   "version": "1.11.2"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/examples/interactive_manipulation.ipynb b/examples/interactive_manipulation.ipynb
@@ -138,13 +138,6 @@
     "    set_configuration!(mvis, configuration(x))\n",
     "end"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {
@@ -153,17 +146,17 @@
    "lastKernelId": "7e34dd28-a64c-4428-9bea-63befbdea05d"
   },
   "kernelspec": {
-   "display_name": "Julia 1.3.1",
+   "display_name": "Julia 1.11.2",
    "language": "julia",
-   "name": "julia-1.3"
+   "name": "julia-1.11"
   },
   "language_info": {
    "file_extension": ".jl",
    "mimetype": "application/julia",
    "name": "julia",
-   "version": "1.3.1"
+   "version": "1.11.2"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/src/animate.jl b/src/animate.jl
@@ -1,20 +1,20 @@
 """
-    animate(vis::MechanismVisualizer,
+    animate(mvis::MechanismVisualizer,
             times::Vector{Float64},
             configurations::Vector{Vector{Float64}};
             fps::Float64=60, realtimerate::Float64=1.)
 
 Animate the given mechanism passing through a time-coded series of
 configurations by linearly interpolating the configuration vectors.
 """
-function animate(vis::MechanismVisualizer,
+function animate(mvis::MechanismVisualizer,
                  times::Vector{Float64},
                  configurations::AbstractVector{<:AbstractVector{Float64}};
-                 fps::Float64 = 60., realtimerate::Float64 = 1.)
+                 fps::Float64=60.0, realtimerate::Float64=1.0)
     @assert fps > 0
     @assert 0 < realtimerate < Inf
 
-    state = vis.state
+    state = mvis.state
     interpolated_configurations = interpolate((times,), configurations, Gridded(Linear()))
     t0, tf = first(times), last(times)
     framenum = 0
@@ -24,24 +24,24 @@ function animate(vis::MechanismVisualizer,
         q = interpolated_configurations(t)
         set_configuration!(state, q)
         rbd.normalize_configuration!(state)
-        _render_state!(vis)
+        _render_state!(mvis)
         framenum += 1
         t == tf && break
     end max_rate = fps
 end
 
 function MeshCat.Animation(mvis::MechanismVisualizer,
-        times::AbstractVector{<:Real},
-        configurations::AbstractVector{<:AbstractVector{<:Real}};
-        fps::Integer=30)
+                           times::AbstractVector{<:Real},
+                           configurations::AbstractVector{<:AbstractVector{<:Real}};
+                           fps::Integer=30)
     @assert axes(times) == axes(configurations)
     interpolated_configurations = interpolate((times,), configurations, Gridded(Linear()))
-    animation = Animation()
+    animation = Animation(mvis.visualizer)
     num_frames = floor(Int, (times[end] - first(times)) * fps)
-    for frame in 0 : num_frames
+    for frame in 0:num_frames
         time = first(times) + frame / fps
-        let mvis = mvis, interpolated_configurations = interpolated_configurations, time=time
-            atframe(animation,  frame) do
+        let mvis = mvis, interpolated_configurations = interpolated_configurations, time = time
+            atframe(animation, frame) do
                 set_configuration!(mvis, interpolated_configurations(time))
             end
         end
@@ -53,11 +53,11 @@ MeshCat.setanimation!(mvis::MechanismVisualizer, args...; kw...) =
     setanimation!(visualizer(mvis), args...; kw...)
 
 function MeshCat.setanimation!(mvis::MechanismVisualizer,
-                      times::AbstractVector{<:Real},
-                      configurations::AbstractVector{<:AbstractVector{<:Real}};
-                      fps::Integer=30,
-                      play::Bool=true,
-                      repetitions::Integer=1)
+                               times::AbstractVector{<:Real},
+                               configurations::AbstractVector{<:AbstractVector{<:Real}};
+                               fps::Integer=30,
+                               play::Bool=true,
+                               repetitions::Integer=1)
     Base.depwarn("""
     `setanimation!(mvis, times, configurations; ..)` is deprecated. Instead, you can construct an `Animation` and then call `setanimation!` with the result.
 

diff --git a/test/runtests.jl b/test/runtests.jl
@@ -4,10 +4,16 @@ using MeshCatMechanisms
 using RigidBodyDynamics
 using RigidBodyDynamics.OdeIntegrators
 using CoordinateTransformations: Translation
-using ValkyrieRobot
 using NBInclude
 using StaticArrays
 
+import Pkg
+Pkg.activate(temp=true)
+# Can be replaced by simply `Pkg.add(ValkyrieRobot)` when this PR
+# gets merged: https://github.com/tkoolen/ValkyrieRobot.jl/pull/13
+Pkg.add(url="https://github.com/ferrolho/ValkyrieRobot.jl", rev="hf/dev")
+using ValkyrieRobot
+
 vis = Visualizer()
 
 @testset "MeshCatMechanisms" begin