From 9702aed0fbe357295a9ccd5c0f6c2d8a9550076b Mon Sep 17 00:00:00 2001
From: Robin Deits <robin.deits@gmail.com>
Date: Mon, 19 Mar 2018 16:00:10 -0400
Subject: [PATCH] overload open() and wait() for mechvis

---
 src/visualizer.jl | 4 +++-
 test/runtests.jl  | 8 ++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/visualizer.jl b/src/visualizer.jl
index 9ff4af4..488e0c0 100644
--- a/src/visualizer.jl
+++ b/src/visualizer.jl
@@ -66,4 +66,6 @@ function rbd.set_configuration!(mvis::MechanismVisualizer, args...)
     _render_state!(mvis)
 end
 
-MeshCat.IJuliaCell(mvis::MechanismVisualizer) = MeshCat.IJuliaCell(mvis.visualizer)
\ No newline at end of file
+MeshCat.IJuliaCell(mvis::MechanismVisualizer) = MeshCat.IJuliaCell(mvis.visualizer)
+Base.open(mvis::MechanismVisualizer) = open(mvis.visualizer)
+Base.wait(mvis::MechanismVisualizer) = wait(mvis.visualizer)
diff --git a/test/runtests.jl b/test/runtests.jl
index 3e90e55..4ef6bec 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -8,16 +8,16 @@ using ValkyrieRobot
 using NBInclude
 
 vis = Visualizer()
-if !haskey(ENV, "CI")
-    open(vis)
-    wait(vis)
-end
 
 @testset "MeshCatMechanisms" begin
     @testset "URDF mechanism" begin
         urdf = joinpath(@__DIR__, "urdf", "Acrobot.urdf")
         robot = parse_urdf(Float64, urdf)
         mvis = MechanismVisualizer(robot, URDFVisuals(urdf), vis)
+        if !haskey(ENV, "CI")
+            open(mvis)
+            wait(mvis)
+        end
         set_configuration!(mvis, [1.0, -0.5])
 
         @testset "simulation and animation" begin