clean packages

thowell · thowell · commit 506cd74300fb · 2022-02-28T23:39:17.000-08:00
diff --git a/Project.toml b/Project.toml
@@ -8,44 +8,38 @@ BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
-IterativeLQR = "605048dd-e178-462b-beb9-98a09398ef27"
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 LaTeXStrings = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
 LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LightXML = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-LineSearches = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 Meshing = "e6723b4c-ebff-59f1-b4b7-d97aa5274f73"
-Optim = "429524aa-4258-5aef-a3af-852621145aeb"
-PGFPlots = "3b7a836e-365b-5785-a47d-02c71176b4aa"
-PGFPlotsX = "8314cec4-20b6-5062-9cdb-752b83310925"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Polyhedra = "67491407-f73d-577b-9b50-8179a7c68029"
-PyPlot = "d330b81b-6aea-500a-939a-2ce795aea3ee"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 Scratch = "6c6a2e73-6563-6170-7368-637461726353"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
-Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Colors = "<0.12.6, 0.12.6"
 DocStringExtensions = "<0.8.3, 0.8.3"
-FiniteDiff = "2.7.2"
+FFMPEG = "0.4.1"
 GeometryBasics = "0.3"
-IterativeLQR = "0.1.1"
+JLD2 = "0.4.21"
+LaTeXStrings = "1.3.0"
+LightGraphs = "1.3.5"
 LightXML = "<0.9.0, 0.9.0"
 MeshCat = "0.13.0 - 0.13.0"
 Meshing = "0.5.7"
 Parameters = "0.12"
+Polyhedra = "0.6.18"
 Rotations = "1.0.2 - 1.0.2"
 Scratch = "1.1"
 StaticArrays = "0.12, 1.0"
diff --git a/examples/Project.toml b/examples/Project.toml
@@ -1,6 +1,11 @@
 [deps]
 IterativeLQR = "605048dd-e178-462b-beb9-98a09398ef27"
 Literate = "98b081ad-f1c9-55d3-8b20-4c87d4299306"
+PGFPlots = "3b7a836e-365b-5785-a47d-02c71176b4aa"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [compat]
+IterativeLQR = "0.1.1"
 Literate = "2.13.0"
+Plots = "1.25.11"
+PGFPlots = "3.4.1"
diff --git a/examples/generate_notebooks.jl b/examples/generate_notebooks.jl
@@ -2,7 +2,12 @@ using Literate
 
 function preprocess(str)
     str = replace(str, "# PREAMBLE" => "")
-    str = replace(str, "# PKG_SETUP" => "")
+    str = replace(str, "# PKG_SETUP" =>
+    """
+    using Pkg
+    Pkg.activate(@__DIR__)
+    Pkg.instantiate()
+    """)
     return str
 end
 
diff --git a/examples/gradients/experiment.jl b/examples/gradients/experiment.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo 
diff --git a/examples/mechanics/astronaut_energy.jl b/examples/mechanics/astronaut_energy.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo 
diff --git a/examples/mechanics/astronaut_momentum.jl b/examples/mechanics/astronaut_momentum.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo 
diff --git a/examples/reinforcement_learning/ant_ars.jl b/examples/reinforcement_learning/ant_ars.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/reinforcement_learning/halfcheetah_ars.jl b/examples/reinforcement_learning/halfcheetah_ars.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/simulation/Project.toml b/examples/simulation/Project.toml
diff --git a/examples/simulation/atlas_drop.jl b/examples/simulation/atlas_drop.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
@@ -17,7 +17,7 @@ mech = get_mechanism(:atlas,
     model_type=:v2)
 
 # ## Simulate
-initialize_atlasstance!(mech, 
+Dojo.initialize_atlasstance!(mech, 
     body_position=[0.0, 0.0, 0.5], 
     body_orientation=[0.0, 0.2, 0.1])
 
@@ -31,7 +31,7 @@ render(vis)
 visualize(mech, storage, 
     vis=vis, show_contact=true)
 
-# ## Contact innerpenetration 
+# ## Contact interpenetration 
 res = get_sdf(mech, storage)
 minimum(minimum([min.(0.0, r) for r in res]))
 
diff --git a/examples/simulation/cone_compare.jl b/examples/simulation/cone_compare.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/simulation/dzhanibekov.jl b/examples/simulation/dzhanibekov.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/simulation/pendulum.jl b/examples/simulation/pendulum.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/simulation/tippetop.jl b/examples/simulation/tippetop.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/system_identification/learning.jl b/examples/system_identification/learning.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## Setup
 using Dojo
diff --git a/examples/trajectory_optimization/atlas_min.jl b/examples/trajectory_optimization/atlas_min.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/box.jl b/examples/trajectory_optimization/box.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/cartpole_max.jl b/examples/trajectory_optimization/cartpole_max.jl
@@ -1,7 +1,7 @@
 
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/cartpole_min.jl b/examples/trajectory_optimization/cartpole_min.jl
@@ -1,7 +1,7 @@
 
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/hopper_max.jl b/examples/trajectory_optimization/hopper_max.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/hopper_min.jl b/examples/trajectory_optimization/hopper_min.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/pendulum_max.jl b/examples/trajectory_optimization/pendulum_max.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/examples/trajectory_optimization/quadruped_min.jl b/examples/trajectory_optimization/quadruped_min.jl
@@ -1,6 +1,6 @@
-# PREAMBLE
-
-# PKG_SETUP
+using Pkg
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
 
 # ## setup
 using Dojo
diff --git a/src/Dojo.jl b/src/Dojo.jl
@@ -7,7 +7,6 @@ using LinearAlgebra
 using Random
 using StaticArrays
 using SparseArrays
-using FiniteDiff
 using StaticArrays: SUnitRange
 using Rotations
 using Rotations: RotationError, params, lmult, rmult, tmat, vmat, hmat, skew, pure_quaternion
diff --git a/test/Project.toml b/test/Project.toml
@@ -7,3 +7,9 @@ SafeTestsets = "1bc83da4-3b8d-516f-aca4-4fe02f6d838f"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+
+[compat] 
+BenchmarkTools = "1.2.0"
+FiniteDiff = "2.8.1"
+SafeTestsets = "0.0.1" 
+StaticArrays = "0.8.0 - 1.4.1"
