juliarobotics / rigidbodysim.jl Goto Github PK

Simulation and visualization of articulated rigid body systems in Julia

License: Other

Julia 4.43% Jupyter Notebook 95.57%

julia rigid-body-dynamics simulation robotics robotics-simulation simulation-modeling visualization dynamical-systems

rigidbodysim.jl's Introduction

RigidBodySim

RigidBodySim provides Julia tools for simulation and visualization of systems of interconnected rigid bodies (both passive and controlled), built on top of RigidBodyDynamics, DifferentialEquations, and RigidBodyTreeInspector.

See the latest documentation and the quick start guide for more information and examples.

Demo video

The video below shows Atlas walking using the MIT Robot Locomotion Group controller, simulated in realtime using RigidBodySim.jl.

Note: RigidBodySim.jl is now using MeshCat instead of Director as its viewer; the video below has not yet been updated to reflect this change.

Off-screen, commands are being given to the robot using a separate user interface. The controller is unfortunately hard to set up, so a hands-on version of this demo is currently not available.

rigidbodysim.jl's People

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rigidbodysim.jl's Issues

Scrollbars in new visualizer window

Just to keep track of this. Should be fixed by

RigidBodySim.jl/src/visualization.jl

Line 192 in 535c60f

 # TODO: vbox(render_default(gui.controls), iframe(gui.visualizer.visualizer.core)) 

once rdeits/MeshCat.jl#49 is fixed.

Update demo video to show new visualizer

Temporarily broken due to Parameters.jl update

Should be fixed once JuliaLang/METADATA.jl#17689 is in.

Enable animation using RigidBodyTreeInspector given an ODESolution

This is different from #3 in that this is animation after the ODE integration is done, whereas that is animation during the integration.

Change from DiffEqBase to SciMLBase

DiffEqBase is the lowest common denominator for the DiffEq packages, not necessarily the whole SciML ecosystem, and so it has a lot DiffEq dependencies. These are generally not required by downstream packages. If what you're looking for is a way to define problems without having most dependencies, we recommend you use SciMLBase as the dependency since everything like ODEProblem, SteadyStateProblem, etc. is defined there. We basically recommend depending on SciMLBase for problem definitions, and solver packages for specific solvers, but generally most non-SciML packages should not be depending on DiffEqBase directly (given the split of SciMLBase in 2021)

For more details see: https://diffeq.sciml.ai/stable/features/low_dep/ and https://discourse.julialang.org/t/psa-the-right-dependency-to-reduce-from-differentialequations-jl/72757

Let me know if you need any help updating this, though for almost all dependents here it should be a trivial name change as you're actually using pieces from SciMLBase.

Removing build.jl (soon)

Just a reminder for the future that when JuliaGizmos/Blink.jl#176 is merged and tagged we can delete the build.jl file here.

Notice: transferring ownership to JuliaRobotics

Transferring ownership to JuliaRobotics today. Hopefully this will all go without a hitch, but bear with me if there are any issues.

DifferentialEquations 0.4.0 compatibility

Adapt to argument order changes.

Quick-start notebook link in the docs is broken

The link here: http://www.juliarobotics.org/RigidBodySim.jl/latest/quickstart/ points to a nonexistent notebook, presumably since the notebook is now generated from the .jl sources.

Deciding where bodies attach

Hey Koolen sorry once again for the trouble,

I am having an issue with attaching one body to another,
I want to define a "rope" to attach to a base, but when using the command "attach!" the rope attaches to the base from its middle and not the top (pic below explains).
Would you have an idea how can I attach the top of my rope to the base.

Btw I am using a Floating Joint, and defining the bodies in a Jupyter notebook using "SpatialInertia" and "RigidBody" commands

Add DAEProblem constructor method

PeriodicController issue with Tsit5 integrator

using RigidBodySim, RigidBodyDynamics, Compat.Test

mechanism = rand_tree_mechanism(Float64, Revolute{Float64})
state = MechanismState(mechanism)
controltimes = Float64[]
initialize = (c, u, t, integrator) -> empty!(controltimes)
τ = similar(velocity(state))
Δt = 0.25

controller = PeriodicController(τ, Δt, function (τ, t, state)
    push!(controltimes, t)
    τ .= 0
end; initialize = initialize)

final_time = 25.3
problem = ODEProblem(Dynamics(mechanism, controller), state, (0., final_time))
sol = solve(problem, Tsit5(), abs_tol = 1e-10, dt = 0.05)
@test controltimes == collect(0. : Δt : final_time - rem(final_time, Δt))

Vern7 is fine though. For Tsit5, the first time the controller is called when docontrol[] == true, the time is not the same as the time at which the callback set docontrol[] to true. I believe this is due to a fairly recent DifferentialEquations change, but I haven't narrowed it down to a version yet.

Defining a propulsion force on RigidbodySim

Hey,

I've spent a while working with RigidbodySim using the Jupyter Notebook and following the Quick Start Guide notebook and so far I'm quite familiar with how things work a bit and I can define my own links and joints and inertias and some simple kinematics.

However I was wondering if it is possible define a certain propulsion force to an object and if so how can I do such.
To be a precise I have a simple geometry a box and I wanna see how much force would it take to lift this object box off the ground.

Thanks in advance

Handle constraints on configuration vector

The configuration vector q may need to satisfy certain constraints. For example, some parts of the configuration vector may represent unit quaternions, used to parameterize rotations. This should be handled.

Options:

callback that renormalizes the configuration vector periodically
explicitly incorporate constraints on the configuration vector into a DAEProblem
Baumgarte stabilization

Make it possible to limit simulation rate

Implement functionality similar to max_realtime_rate (mostly for interactive simulations and visualization).

Propose smaller dt around contact changes

http://docs.juliadiffeq.org/stable/basics/integrator.html#Stepping-Controls-1

Add callback for visualization using RigidBodyTreeInspector while simulating

This includes reimplementing the max_realtime_rate functionality. See also JuliaRobotics/RigidBodyDynamics.jl#345.

Handle controllers that run at a fixed rate

It should be possible to run a controller at a fixed rate (say 200 Hz in terms of simulation time), relatively independent of the integration time step.

Defining PID controller on RigidBodyDynamics

Hi,

The topic that I am working on is a box carrying a small cargo, and I am looking to stabilize this one when it's flying, so I am seeking how to define a PID controller.

I'm working with julia using RigidBodyDynamics within Jupyter Notebook. I was searching how to define a PID controller but unfortunately I didn't find any function to apply it.

Is it possible to define a certain function and if how can I do it.

Thank you in advance.

More helpful exports

I've noticed that it's kind of annoying to have to do using MeshCatMechanisms just to be able to construct a GUI(mechanism, URDFVisuals(urdf)). We could instead have RigidBodySim.Visualization re-export a few things, since using RigidBodySim.Visualization is a bit more obvious than explaining (and remembering) to load a whole different package as well.

Or we could just have RigidBodySim itself export URDFVisuals.

Docs build broken on 1.0

Long precompile time

Feels like it's even longer than it used to be...

Displayed simulation time can go out of sync with 3D visualizer

Version tag

@JuliaRegistrator register()

Patch notes:

Fully switch to Project.toml setup.

PeriodicCallback associated with PeriodicController is never created if PeriodicController is called from a different control! function

For example, wrapping a PeriodicController in another callable, like:

periodic_controller = PeriodicController(v, dt, inner_controller)
my_controller(T, t, state) = periodic_controller(T, t, state)
dynamics = Dynamics(mech, my_controller)
problem = ODEProblem(dynamics, state)

causes the automatic PeriodicCallback not to be added to the ODEProblem, which results in the inner_controller only ever being called once, not every dt.

The safest solution seems to be requiring users to add the periodic callback for each periodic controller.

Video

Show time in visualizer

Support for MeshCatMechanisms.jl

https://github.com/JuliaRobotics/MeshCatMechanisms.jl

Need to figure out how to implement pause/stop/etc commands sent from the viewer to the simulation environment.

Compatibility issue with Atom.jl

I'm not entirely sure what MeshCat.jl is, but it's giving me install issues:

(v1.1) pkg> dev RigidBodySim
[ Info: Path `C:\Users\accou\.julia\dev\RigidBodySim` exists and looks like the correct package, using existing path
 Resolving package versions...
ERROR: Unsatisfiable requirements detected for package WebIO [0f1e0344]:
 WebIO [0f1e0344] log:
 ├─possible versions are: [0.1.0-0.1.10, 0.1.12, 0.2.0-0.2.8, 0.3.0-0.3.4, 0.4.0-0.4.2, 0.6.0-0.6.2, 0.7.0, 0.8.0-0.8.1, 0.8.3-0.8.9, 0.8.11] or uninstalled
 ├─restricted to versions 0.2.6-* by RigidBodySim [e61f16d8], leaving only versions [0.2.6-0.2.8, 0.3.0-0.3.4, 0.4.0-0.4.2, 0.6.0-0.6.2, 0.7.0, 0.8.0-0.8.1, 0.8.3-0.8.9, 0.8.11]
 │ └─RigidBodySim [e61f16d8] log:
 │   ├─possible versions are: 1.3.0 or uninstalled
 │   └─RigidBodySim [e61f16d8] is fixed to version 1.3.0
 ├─restricted by compatibility requirements with Atom [c52e3926] to versions: [0.8.1, 0.8.3-0.8.9, 0.8.11]
 │ └─Atom [c52e3926] log:
 │   ├─possible versions are: [0.1.0-0.1.1, 0.2.0-0.2.1, 0.3.0, 0.4.0-0.4.6, 0.5.0-0.5.10, 0.6.0-0.6.17, 0.7.0-0.7.15, 
0.8.0-0.8.8, 0.9.0-0.9.1, 0.10.0-0.10.1] or uninstalled
 │   └─restricted to versions 0.10.1 by an explicit requirement, leaving only versions 0.10.1
 └─restricted by compatibility requirements with MeshCat [283c5d60] to versions: [0.1.8-0.1.10, 0.1.12, 0.2.0-0.2.8, 0.3.0-0.3.4, 0.4.0-0.4.2, 0.7.0] — no versions left
   └─MeshCat [283c5d60] log:
     ├─possible versions are: [0.0.1-0.0.3, 0.1.0-0.1.2, 0.2.0-0.2.3, 0.3.0, 0.4.0, 0.5.0, 0.6.0, 0.7.0] or uninstalled     ├─restricted to versions * by RigidBodySim [e61f16d8], leaving only versions [0.0.1-0.0.3, 0.1.0-0.1.2, 0.2.0-0.2.3, 0.3.0, 0.4.0, 0.5.0, 0.6.0, 0.7.0]
     │ └─RigidBodySim [e61f16d8] log: see above
     └─restricted by compatibility requirements with MeshCatMechanisms [6ad125db] to versions: [0.2.1-0.2.3, 0.3.0, 0.4.0, 0.5.0, 0.6.0, 0.7.0]
       └─MeshCatMechanisms [6ad125db] log:
         ├─possible versions are: [0.0.1-0.0.6, 0.1.0-0.1.1, 0.2.0-0.2.1, 0.3.0, 0.4.0, 0.5.0] or uninstalled
         └─restricted to versions 0.1.1-* by RigidBodySim [e61f16d8], leaving only versions [0.1.1, 0.2.0-0.2.1, 0.3.0, 0.4.0, 0.5.0]
           └─RigidBodySim [e61f16d8] log: see above

Originally posted by @ChrisRackauckas in #113 (comment)

Remove timing checks from tests

They're just too flaky.

Build failure on julia 1.0.2

Does the build expect 7z to be on the path?

(v1.0) pkg> add RigidBodySim
   Cloning default registries into C:\Users\fschmidt\.julia\registries
   Cloning registry General from "https://github.com/JuliaRegistries/General.git"
 Resolving package versions...
 Installed TreeViews ─────────────────── v0.3.0
 Installed AssetRegistry ─────────────── v0.1.0
 Installed Compat ────────────────────── v1.4.0
 Installed RecursiveArrayTools ───────── v0.18.4
 Installed NLSolversBase ─────────────── v7.1.1
 Installed DiffResults ───────────────── v0.0.3
 Installed OrderedCollections ────────── v1.0.2
 Installed RigidBodySim ──────────────── v1.0.0
 Installed BinaryProvider ────────────── v0.5.3
 Installed Observables ───────────────── v0.2.3
 Installed IniFile ───────────────────── v0.5.0
 Installed LoopThrottle ──────────────── v0.0.3
 Installed MechanismGeometries ───────── v0.1.2
 Installed MacroTools ────────────────── v0.4.4
 Installed NaNMath ───────────────────── v0.3.2
 Installed DiffEqBase ────────────────── v4.31.0
 Installed SpecialFunctions ──────────── v0.7.2
 Installed ExponentialUtilities ──────── v1.3.0
 Installed CoordinateTransformations ─── v0.5.0
 Installed DiffEqCallbacks ───────────── v2.3.0
 Installed WebIO ─────────────────────── v0.4.2
 Installed Widgets ───────────────────── v0.4.3
 Installed DiffBase ──────────────────── v0.3.2
 Installed MbedTLS ───────────────────── v0.6.6
 Installed FunctionalCollections ─────── v0.4.0
 Installed Blink ─────────────────────── v0.8.1
 Installed Reexport ──────────────────── v0.2.0
 Installed HTTP ──────────────────────── v0.7.1
 Installed BinDeps ───────────────────── v0.8.10
 Installed Parameters ────────────────── v0.10.2
 Installed ColorTypes ────────────────── v0.7.5
 Installed Rotations ─────────────────── v0.9.1
 Installed AxisAlgorithms ────────────── v0.3.0
 Installed CSSUtil ───────────────────── v0.1.0
 Installed IterTools ─────────────────── v1.1.1
 Installed Hiccup ────────────────────── v0.2.2
 Installed Distances ─────────────────── v0.7.3
 Installed Mustache ──────────────────── v0.5.8
 Installed WebSockets ────────────────── v1.1.0
 Installed Interpolations ────────────── v0.10.6
 Installed Pidfile ───────────────────── v1.1.0
 Installed MeshIO ────────────────────── v0.3.1
 Installed DataStructures ────────────── v0.14.0
 Installed Mux ───────────────────────── v0.5.3
 Installed OrdinaryDiffEq ────────────── v4.17.2
 Installed JSExpr ────────────────────── v0.3.1
 Installed DiffEqOperators ───────────── v3.4.0
 Installed RecipesBase ───────────────── v0.6.0
 Installed DiffEqDiffTools ───────────── v0.7.1
 Installed MsgPack ───────────────────── v0.2.0
 Installed Calculus ──────────────────── v0.4.1
 Installed MuladdMacro ───────────────── v0.2.1
 Installed StaticArrays ──────────────── v0.10.0
 Installed GeometryTypes ─────────────── v0.7.1
 Installed LightXML ──────────────────── v0.8.0
 Installed GenericSVD ────────────────── v0.2.0
 Installed Tables ────────────────────── v0.1.11
 Installed ForwardDiff ───────────────── v0.10.1
 Installed InteractBase ──────────────── v0.8.1
 Installed NLsolve ───────────────────── v3.0.1
 Installed Requires ──────────────────── v0.5.2
 Installed OffsetArrays ──────────────── v0.9.0
 Installed WoodburyMatrices ──────────── v0.4.1
 Installed TypeSortedCollections ─────── v1.0.0
 Installed MeshCat ───────────────────── v0.4.0
 Installed FileIO ────────────────────── v1.0.4
 Installed LineSearches ──────────────── v7.0.1
 Installed Knockout ──────────────────── v0.2.0
 Installed Ratios ────────────────────── v0.3.0
 Installed Lazy ──────────────────────── v0.13.2
 Installed Measures ──────────────────── v0.3.0
 Installed CommonSubexpressions ──────── v0.2.0
 Installed MeshCatMechanisms ─────────── v0.2.1
 Installed JSON ──────────────────────── v0.20.0
 Installed Roots ─────────────────────── v0.7.4
 Installed FixedPointNumbers ─────────── v0.5.3
 Installed DiffRules ─────────────────── v0.0.7
 Installed IteratorInterfaceExtensions ─ v0.1.1
 Installed TableTraits ───────────────── v0.4.0
 Installed URIParser ─────────────────── v0.4.0
 Installed Colors ────────────────────── v0.9.5
 Installed DocStringExtensions ───────── v0.5.0
 Installed RigidBodyDynamics ─────────── v1.2.0
  Updating `C:\Users\fschmidt\.julia\environments\v1.0\Project.toml`
  [e61f16d8] + RigidBodySim v1.0.0
  Updating `C:\Users\fschmidt\.julia\environments\v1.0\Manifest.toml`
  [bf4720bc] + AssetRegistry v0.1.0
  [13072b0f] + AxisAlgorithms v0.3.0
  [9e28174c] + BinDeps v0.8.10
  [b99e7846] + BinaryProvider v0.5.3
  [ad839575] + Blink v0.8.1
  [70588ee8] + CSSUtil v0.1.0
  [49dc2e85] + Calculus v0.4.1
  [3da002f7] + ColorTypes v0.7.5
  [5ae59095] + Colors v0.9.5
  [bbf7d656] + CommonSubexpressions v0.2.0
  [34da2185] + Compat v1.4.0
  [150eb455] + CoordinateTransformations v0.5.0
  [864edb3b] + DataStructures v0.14.0
  [c5cfe0b6] + DiffBase v0.3.2
  [2b5f629d] + DiffEqBase v4.31.0
  [459566f4] + DiffEqCallbacks v2.3.0
  [01453d9d] + DiffEqDiffTools v0.7.1
  [9fdde737] + DiffEqOperators v3.4.0
  [163ba53b] + DiffResults v0.0.3
  [b552c78f] + DiffRules v0.0.7
  [b4f34e82] + Distances v0.7.3
  [ffbed154] + DocStringExtensions v0.5.0
  [d4d017d3] + ExponentialUtilities v1.3.0
  [5789e2e9] + FileIO v1.0.4
  [53c48c17] + FixedPointNumbers v0.5.3
  [f6369f11] + ForwardDiff v0.10.1
  [de31a74c] + FunctionalCollections v0.4.0
  [01680d73] + GenericSVD v0.2.0
  [4d00f742] + GeometryTypes v0.7.1
  [cd3eb016] + HTTP v0.7.1
  [9fb69e20] + Hiccup v0.2.2
  [83e8ac13] + IniFile v0.5.0
  [d3863d7c] + InteractBase v0.8.1
  [a98d9a8b] + Interpolations v0.10.6
  [c8e1da08] + IterTools v1.1.1
  [82899510] + IteratorInterfaceExtensions v0.1.1
  [97c1335a] + JSExpr v0.3.1
  [682c06a0] + JSON v0.20.0
  [bcebb21b] + Knockout v0.2.0
  [50d2b5c4] + Lazy v0.13.2
  [9c8b4983] + LightXML v0.8.0
  [d3d80556] + LineSearches v7.0.1
  [39f5be34] + LoopThrottle v0.0.3
  [1914dd2f] + MacroTools v0.4.4
  [739be429] + MbedTLS v0.6.6
  [442fdcdd] + Measures v0.3.0
  [931e9471] + MechanismGeometries v0.1.2
  [283c5d60] + MeshCat v0.4.0
  [6ad125db] + MeshCatMechanisms v0.2.1
  [7269a6da] + MeshIO v0.3.1
  [99f44e22] + MsgPack v0.2.0
  [46d2c3a1] + MuladdMacro v0.2.1
  [ffc61752] + Mustache v0.5.8
  [a975b10e] + Mux v0.5.3
  [d41bc354] + NLSolversBase v7.1.1
  [2774e3e8] + NLsolve v3.0.1
  [77ba4419] + NaNMath v0.3.2
  [510215fc] + Observables v0.2.3
  [6fe1bfb0] + OffsetArrays v0.9.0
  [bac558e1] + OrderedCollections v1.0.2
  [1dea7af3] + OrdinaryDiffEq v4.17.2
  [d96e819e] + Parameters v0.10.2
  [fa939f87] + Pidfile v1.1.0
  [c84ed2f1] + Ratios v0.3.0
  [3cdcf5f2] + RecipesBase v0.6.0
  [731186ca] + RecursiveArrayTools v0.18.4
  [189a3867] + Reexport v0.2.0
  [ae029012] + Requires v0.5.2
  [366cf18f] + RigidBodyDynamics v1.2.0
  [e61f16d8] + RigidBodySim v1.0.0
  [f2b01f46] + Roots v0.7.4
  [6038ab10] + Rotations v0.9.1
  [276daf66] + SpecialFunctions v0.7.2
  [90137ffa] + StaticArrays v0.10.0
  [3783bdb8] + TableTraits v0.4.0
  [bd369af6] + Tables v0.1.11
  [a2a6695c] + TreeViews v0.3.0
  [94a5cd58] + TypeSortedCollections v1.0.0
  [30578b45] + URIParser v0.4.0
  [0f1e0344] + WebIO v0.4.2
  [104b5d7c] + WebSockets v1.1.0
  [cc8bc4a8] + Widgets v0.4.3
  [efce3f68] + WoodburyMatrices v0.4.1
  [2a0f44e3] + Base64
  [ade2ca70] + Dates
  [8bb1440f] + DelimitedFiles
  [8ba89e20] + Distributed
  [7b1f6079] + FileWatching
  [b77e0a4c] + InteractiveUtils
  [76f85450] + LibGit2
  [8f399da3] + Libdl
  [37e2e46d] + LinearAlgebra
  [56ddb016] + Logging
  [d6f4376e] + Markdown
  [a63ad114] + Mmap
  [44cfe95a] + Pkg
  [de0858da] + Printf
  [9abbd945] + Profile
  [3fa0cd96] + REPL
  [9a3f8284] + Random
  [ea8e919c] + SHA
  [9e88b42a] + Serialization
  [1a1011a3] + SharedArrays
  [6462fe0b] + Sockets
  [2f01184e] + SparseArrays
  [10745b16] + Statistics
  [4607b0f0] + SuiteSparse
  [8dfed614] + Test
  [cf7118a7] + UUIDs
  [4ec0a83e] + Unicode
  Building WebIO ───────────→ `C:\Users\fschmidt\.julia\packages\WebIO\Rk8wc\deps\build.log`
  Building Knockout ────────→ `C:\Users\fschmidt\.julia\packages\Knockout\JIqpG\deps\build.log`
  Building InteractBase ────→ `C:\Users\fschmidt\.julia\packages\InteractBase\Q4IkI\deps\build.log`
  Building LightXML ────────→ `C:\Users\fschmidt\.julia\packages\LightXML\k3mJ4\deps\build.log`
  Building SpecialFunctions → `C:\Users\fschmidt\.julia\packages\SpecialFunctions\fvheQ\deps\build.log`
  Building DiffEqBase ──────→ `C:\Users\fschmidt\.julia\packages\DiffEqBase\nW6r3\deps\build.log`
  Building MbedTLS ─────────→ `C:\Users\fschmidt\.julia\packages\MbedTLS\r1Ufc\deps\build.log`
  Building Blink ───────────→ `C:\Users\fschmidt\.julia\packages\Blink\vKGzM\deps\build.log`
  Building MeshCat ─────────→ `C:\Users\fschmidt\.julia\packages\MeshCat\GlxLQ\deps\build.log`
  Building RigidBodySim ────→ `C:\Users\fschmidt\.julia\packages\RigidBodySim\ZC9wn\deps\build.log`
┌ Error: Error building `RigidBodySim`:
│ WARNING: could not import Base.quit into AtomShell
│ ERROR: LoadError: IOError: could not spawn `7z x electron-v2.0.5-win32-x64.zip -oatom`: no such file or directory (ENOENT)
│ Stacktrace:
│  [1] _jl_spawn(::String, ::Array{String,1}, ::Cmd, ::Tuple{RawFD,RawFD,RawFD}) at .\process.jl:367
│  [2] (::getfield(Base, Symbol("##494#495")){Cmd})(::Tuple{RawFD,RawFD,RawFD}) at .\process.jl:509
│  [3] setup_stdio(::getfield(Base, Symbol("##494#495")){Cmd}, ::Tuple{RawFD,RawFD,RawFD}) at .\process.jl:490
│  [4] #_spawn#493(::Nothing, ::Function, ::Cmd, ::Tuple{RawFD,RawFD,RawFD}) at .\process.jl:508
│  [5] _spawn at .\process.jl:504 [inlined]
│  [6] #run#504(::Bool, ::Function, ::Cmd) at .\process.jl:662
│  [7] run at .\process.jl:661 [inlined]
│  [8] (::getfield(Blink.AtomShell, Symbol("##1#2")))() at C:\Users\fschmidt\.julia\packages\Blink\vKGzM\src\AtomShell\install.jl:48
│  [9] cd(::getfield(Blink.AtomShell, Symbol("##1#2")), ::String) at .\file.jl:85
│  [10] install() at C:\Users\fschmidt\.julia\packages\Blink\vKGzM\src\AtomShell\install.jl:27
│  [11] top-level scope at none:0
│  [12] include at .\boot.jl:317 [inlined]
│  [13] include_relative(::Module, ::String) at .\loading.jl:1044
│  [14] include(::Module, ::String) at .\sysimg.jl:29
│  [15] include(::String) at .\client.jl:392
│  [16] top-level scope at none:0
│ in expression starting at C:\Users\fschmidt\.julia\packages\RigidBodySim\ZC9wn\deps\build.jl:2
└ @ Pkg.Operations C:\cygwin\home\Administrator\buildbot\worker\package_win64\build\usr\share\julia\stdlib\v1.0\Pkg\src\Operations.jl:1097

(v1.0) pkg>

Rename to RigidBodyDynamicsSim.jl?

Tests failing due to PeriodicController issue

First failure: https://travis-ci.org/JuliaRobotics/RigidBodySim.jl/jobs/583088525#L541-L548

Possibly related to SciML/DiffEqCallbacks.jl@46cd2b2, though there have been builds with version 2.8.0 of DiffEqCallbacks that passed.

Parameter Identification example

Hi there!

I was just wondering if the dynamics object could be used for parameter Identification with DiffEq? As I understand it, that was the motivation back in the day.

Thanks in advance!

Method Error with atframe

I was trying to visualize the ODE solution after simulation was done, and I got an error from the 'atframe()' function.
I am not sure why but the error is about the argument 'frame'. I checked the var types and the package .jl code but could not find the root of the problem.

I had the same problem with the quickstart example, so I think it is independent of the mechanism inputs.
Can it be a dependency problem?

Thank you for your amazing work and contributions @tkoolen @rdeits.

RigidBodySim.jl/src/visualization.jl

Line 247 in 0f3153d

atframe(animation, MeshCatMechanisms.visualizer(mvis), frame) do frame_vis

Here is the error description:

LoadError: MethodError: no method matching atframe(::RigidBodySim.Visualization.var"#20#21"{MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Fixed{Float64}}}, Vector{Joint{Float64, Prismatic{Float64}}}}, 2}}, MeshCat.Visualizer}, SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}}, ::MeshCat.Animation, ::MeshCat.Visualizer, ::Int64)
�[0mClosest candidates are:
�[0m atframe(::Any, ::MeshCat.Animation, �[91m::Integer�[39m) at C:\Users\User.julia\packages\MeshCat\GlCMx\src\atframe.jl:96
MethodError: no method matching atframe(::RigidBodySim.Visualization.var"#20#21"{MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Fixed{Float64}}}, Vector{Joint{Float64, Prismatic{Float64}}}}, 2}}, MeshCat.Visualizer}, SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}}, ::MeshCat.Animation, ::MeshCat.Visualizer, ::Int64)
Closest candidates are:
atframe(::Any, ::MeshCat.Animation, ::Integer) at C:\Users\User.julia\packages\MeshCat\GlCMx\src\atframe.jl:96

Link to quickstart guide in README 404's

Julia 1.0

Installing the package in julia 1.0 has errors in build. Adding the packages the errors will disappear, however in the end there is the error: "UndefVarError: @sprintf not defined".

julia> using RigidBodySim
[ Info: Precompiling RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce]
ERROR: LoadError: LoadError: ArgumentError: Package RigidBodySim does not have WebIO in its dependencies:                                                           
- If you have RigidBodySim checked out for development and have
  added WebIO as a dependency but haven't updated your primary
  environment's manifest file, try `Pkg.resolve()`.
- Otherwise you may need to report an issue with RigidBodySim
Stacktrace:
 [1] include at ./boot.jl:317 [inlined]
 [2] include_relative(::Module, ::String) at ./loading.jl:1038
 [3] include at ./sysimg.jl:29 [inlined]
 [4] include(::String) at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:3
 [5] top-level scope at none:0
 [6] top-level scope at none:2
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/visualization.jl:36
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:10
ERROR: Failed to precompile RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce] to /home/phelipe/.julia/compiled/v1.0/RigidBodySim/s3FmJ.ji.

After "add WebIO"

julia> using RigidBodySim
[ Info: Precompiling RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce]
┌ Warning: Package RigidBodySim does not have WebIO in its dependencies:
│ - If you have RigidBodySim checked out for development and have
│   added WebIO as a dependency but haven't updated your primary
│   environment's manifest file, try `Pkg.resolve()`.
│ - Otherwise you may need to report an issue with RigidBodySim
└ Loading WebIO into RigidBodySim from project dependency, future warnings for RigidBodySim are suppressed.
WARNING: could not import Base.quit into AtomShell
ERROR: LoadError: LoadError: ArgumentError: Package RigidBodySim does not have CSSUtil in its dependencies:                                                         
- If you have RigidBodySim checked out for development and have
  added CSSUtil as a dependency but haven't updated your primary
  environment's manifest file, try `Pkg.resolve()`.
- Otherwise you may need to report an issue with RigidBodySim
Stacktrace:
 [1] include at ./boot.jl:317 [inlined]
 [2] include_relative(::Module, ::String) at ./loading.jl:1038
 [3] include at ./sysimg.jl:29 [inlined]
 [4] include(::String) at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:3
 [5] top-level scope at none:0
 [6] top-level scope at none:2
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/visualization.jl:38
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:10
ERROR: Failed to precompile RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce] to /home/phelipe/.julia/compiled/v1.0/RigidBodySim/s3FmJ.ji.

After "add CSSUtil"

julia> using RigidBodySim
[ Info: Precompiling RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce]
┌ Warning: Package RigidBodySim does not have WebIO in its dependencies:
│ - If you have RigidBodySim checked out for development and have
│   added WebIO as a dependency but haven't updated your primary
│   environment's manifest file, try `Pkg.resolve()`.
│ - Otherwise you may need to report an issue with RigidBodySim
└ Loading WebIO into RigidBodySim from project dependency, future warnings for RigidBodySim are suppressed.
ERROR: LoadError: LoadError: ArgumentError: Package RigidBodySim does not have DataStructures in its dependencies:                                                  
- If you have RigidBodySim checked out for development and have
  added DataStructures as a dependency but haven't updated your primary
  environment's manifest file, try `Pkg.resolve()`.
- Otherwise you may need to report an issue with RigidBodySim
Stacktrace:
 [1] include at ./boot.jl:317 [inlined]
 [2] include_relative(::Module, ::String) at ./loading.jl:1038
 [3] include at ./sysimg.jl:29 [inlined]
 [4] include(::String) at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:3
 [5] top-level scope at none:0
 [6] top-level scope at none:2
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/visualization.jl:40
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:10
ERROR: Failed to precompile RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce] to /home/phelipe/.julia/compiled/v1.0/RigidBodySim/s3FmJ.ji.

After "add DataStructures"

julia> using RigidBodySim
[ Info: Precompiling RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce]
┌ Warning: Package RigidBodySim does not have WebIO in its dependencies:
│ - If you have RigidBodySim checked out for development and have
│   added WebIO as a dependency but haven't updated your primary
│   environment's manifest file, try `Pkg.resolve()`.
│ - Otherwise you may need to report an issue with RigidBodySim
└ Loading WebIO into RigidBodySim from project dependency, future warnings for RigidBodySim are suppressed.
ERROR: LoadError: LoadError: LoadError: UndefVarError: @sprintf not defined
Stacktrace:
 [1] top-level scope
 [2] include at ./boot.jl:317 [inlined]
 [3] include_relative(::Module, ::String) at ./loading.jl:1038
 [4] include at ./sysimg.jl:29 [inlined]
 [5] include(::String) at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:3
 [6] top-level scope at none:0
 [7] top-level scope at none:2
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/visualization.jl:164
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/visualization.jl:159
in expression starting at /home/phelipe/.julia/packages/RigidBodySim/owYRZ/src/RigidBodySim.jl:10
ERROR: Failed to precompile RigidBodySim [e61f16d8-a6b7-5689-8d03-627c2b27ebce] to /home/phelipe/.julia/compiled/v1.0/RigidBodySim/s3FmJ.ji.

Please update the Project.toml and release the new version

Currently adding RigidBodySim.jl outright downgrades most to all of my packages.

juliarobotics / rigidbodysim.jl Goto Github PK

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