Update Animation given the changes upstream in MeshCat.jl

.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 }}
@@ -13,13 +14,18 @@ jobs:
       matrix:
         version:
           - '1.6'
+          - '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

Project.toml

@@ -1,6 +1,6 @@
 name = "MeshCatMechanisms"
 uuid = "6ad125db-dd91-5488-b820-c1df6aab299d"
-version = "0.9.0"
+version = "0.9.1"
 
 [deps]
 ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
@@ -15,14 +15,14 @@ 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"
 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"
+MeshCat = "1"
 NBInclude = "1, 2"
 OrderedCollections = "1"
 RigidBodyDynamics = "2"
@@ -37,5 +37,8 @@ StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 ValkyrieRobot = "c74b26e8-f247-5d24-b013-c11a2bbd97c6"
 
+[sources]
+MeshCat = {rev = "rd/drop-cassette", url = "https://github.com/rdeits/MeshCat.jl.git"}
+
 [targets]
 test = ["StaticArrays", "Pkg", "NBInclude", "Test", "ValkyrieRobot", "Random"]

examples/demo.ipynb

@@ -147,14 +147,16 @@
    "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);"
    ]
   },
   {
@@ -201,13 +203,6 @@
     "set_configuration!(vis, [0.5]) \n",
     "render(vis)"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {
@@ -216,17 +211,17 @@
    "lastKernelId": null
   },
   "kernelspec": {
-   "display_name": "Julia 1.3.1",
+   "display_name": "Julia 1.11.1",
    "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": "1.11.1"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

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 1.11.1",
    "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": "1.11.1"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

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.