New API

.travis.yml

@@ -28,7 +28,7 @@ addons:
 ## uncomment the following lines to override the default test script
 script:
  - julia -e 'Pkg.clone("https://github.com/rdeits/MeshCat.jl"); Pkg.build("MeshCat")'
- - julia -e 'Pkg.clone(pwd()); Pkg.build("MeshCatMechanisms"); Pkg.test("MeshCatMechanisms"; coverage=true)'
+ - julia -e 'Pkg.clone(pwd()); Pkg.checkout("RigidBodyDynamics"); Pkg.build("MeshCatMechanisms"); Pkg.test("MeshCatMechanisms"; coverage=true)';
 after_success:
   # push coverage results to Codecov
   - julia -e 'cd(Pkg.dir("MeshCatMechanisms")); Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())'

REQUIRE

@@ -1,10 +1,12 @@
 julia 0.6
 MeshCat
 
-LightXML
-CoordinateTransformations
-GeometryTypes
-RigidBodyDynamics
-MeshIO
-FileIO
-ColorTypes
+ColorTypes 0.2.0
+CoordinateTransformations 0.4.1
+FileIO 0.1.0
+GeometryTypes 0.4.0
+Interpolations 0.3.6
+LightXML 0.4.0
+LoopThrottle 0.0.1
+MeshIO 0.1.0
+RigidBodyDynamics 0.4

mechanism-demo.ipynb

@@ -1,14 +1,5 @@
 {
  "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "using Revise"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -27,7 +18,7 @@
    "outputs": [],
    "source": [
     "vis = Visualizer()\n",
-    "open(vis)  # open the visualizer in a separate tab/window\n",
+    "# open(vis)  # open the visualizer in a separate tab/window\n",
     "IJuliaCell(vis)"
    ]
   },
@@ -37,12 +28,11 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "robot = parse_urdf(Float64, \"test/urdf/Acrobot.urdf\")\n",
+    "urdf = joinpath(Pkg.dir(\"MeshCatMechanisms\"), \"test\", \"urdf\", \"Acrobot.urdf\")\n",
+    "robot = parse_urdf(Float64, urdf)\n",
     "delete!(vis)\n",
-    "mvis = MechanismVisualizer(robot, \"test/urdf/Acrobot.urdf\", vis)\n",
-    "state = MechanismState(robot)\n",
-    "set_configuration!(state, [1.0, -0.5])\n",
-    "setstate!(mvis, state)"
+    "mvis = MechanismVisualizer(robot, urdf, vis)\n",
+    "set_configuration!(mvis, [1.0, -0.5])"
    ]
   },
   {
@@ -51,22 +41,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "t, q, v = simulate(state, 5.0);"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "for i in 1:10:length(t)\n",
-    "    set_configuration!(state, q[i])\n",
-    "    setstate!(mvis, state)\n",
-    "    if i < length(t)\n",
-    "        sleep(t[i + 1] - t[i])\n",
-    "    end\n",
-    "end"
+    "state = MechanismState(robot, randn(2), randn(2))\n",
+    "t, q, v = simulate(state, 5.0);\n",
+    "\n",
+    "animate(mvis, t, q)"
    ]
   },
   {
@@ -78,12 +56,12 @@
     "using ValkyrieRobot\n",
     "\n",
     "val = Valkyrie();\n",
-    "\n",
     "delete!(vis)\n",
-    "mvis = MechanismVisualizer(val.mechanism, ValkyrieRobot.urdfpath(), vis, package_path=[dirname(dirname(ValkyrieRobot.urdfpath()))])\n",
-    "\n",
-    "state = MechanismState(val.mechanism)\n",
-    "setstate!(mvis, state)"
+    "mvis = MechanismVisualizer(\n",
+    "    val.mechanism, \n",
+    "    ValkyrieRobot.urdfpath(),\n",
+    "    vis, \n",
+    "    package_path=[dirname(dirname(ValkyrieRobot.urdfpath()))]);"
    ]
   },
   {
@@ -94,7 +72,7 @@
    "source": [
     "using ValkyrieRobot.BipedControlUtil: Side, flipsign_if_right\n",
     "\n",
-    "function initialize(state::MechanismState, val::Valkyrie, vis::MechanismVisualizer)\n",
+    "function initialize!(state::MechanismState, val::Valkyrie)\n",
     "    zero!(state)\n",
     "    mechanism = val.mechanism\n",
     "    for side in instances(Side)\n",
@@ -107,40 +85,11 @@
     "        set_configuration!(state, findjoint(mechanism, \"$(side)ForearmYaw\"), [1.571])\n",
     "    end\n",
     "    set_configuration!(state, val.basejoint, [1; 0; 0; 0; 0; 0; 1.025])\n",
-    "    setstate!(vis, state)\n",
     "    nothing\n",
     "end\n",
-    "\n",
-    "initialize(state, val, mvis)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "robot = parse_urdf(Float64, \"test/urdf/Acrobot_fixed.urdf\")\n",
-    "RigidBodyDynamics.remove_fixed_tree_joints!(robot)\n",
-    "delete!(vis)\n",
-    "mvis = MechanismVisualizer(robot, \"test/urdf/Acrobot_fixed.urdf\", vis)\n",
-    "\n",
-    "state = MechanismState(robot)\n",
-    "set_configuration!(state, [0.5])\n",
-    "setstate!(mvis, state)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "for theta in linspace(-pi, pi, 1000)\n",
-    "    set_configuration!(state, [theta])\n",
-    "    setstate!(mvis, state)\n",
-    "    sleep(0.001)\n",
-    "end"
+    "state = MechanismState(val.mechanism)\n",
+    "initialize!(state, val)\n",
+    "set_configuration!(mvis, configuration(state))"
    ]
   },
   {