From 29e479ac5707e4f0397a3377d710693cf02c198c Mon Sep 17 00:00:00 2001 From: Henrique Ferrolho Date: Sat, 9 Nov 2024 16:58:45 +0000 Subject: [PATCH 1/4] Use Julia 1.11 for CI tests and docs --- .github/workflows/{ci.yml => CI.yml} | 20 - .github/workflows/Documentation.yml | 26 ++ deps/.gitignore | 1 - docs/Manifest.toml | 299 ------------ docs/make.jl | 31 +- docs/src/algorithms.md | 2 +- docs/src/caches.md | 3 +- docs/src/customcollections.md | 2 +- docs/src/index.md | 11 +- docs/src/mechanism.md | 4 +- docs/src/mechanismstate.md | 2 +- docs/src/rigidbody.md | 2 +- docs/src/spatial.md | 2 +- docs/src/urdf.md | 2 +- .../Manifest.toml | 192 ++------ ...losed-loop simulation and visualization.jl | 7 +- .../Manifest.toml | 134 ++++-- .../Project.toml | 3 +- .../3. Four-bar linkage.jl | 7 +- examples/3. Four-bar linkage/Manifest.toml | 134 ++++-- examples/3. Four-bar linkage/Project.toml | 3 +- .../4. Jacobian IK and Control.jl | 9 +- .../4. Jacobian IK and Control/Manifest.toml | 139 ++++-- .../4. Jacobian IK and Control/Project.toml | 3 +- .../Manifest.toml | 127 ++++-- examples/6. Symbolics/Manifest.toml | 431 ++++++++++-------- ...s error bounds using IntervalArithmetic.jl | 18 +- .../Manifest.toml | 164 +++---- perf/Manifest.toml | 196 +++----- test/runtests.jl | 2 +- 30 files changed, 836 insertions(+), 1140 deletions(-) rename .github/workflows/{ci.yml => CI.yml} (73%) create mode 100644 .github/workflows/Documentation.yml delete mode 100644 docs/Manifest.toml diff --git a/.github/workflows/ci.yml b/.github/workflows/CI.yml similarity index 73% rename from .github/workflows/ci.yml rename to .github/workflows/CI.yml index ac3514b7..ad0ea74d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/CI.yml @@ -18,7 +18,6 @@ jobs: matrix: version: - 'lts' - - '1.9' # Temporary for notebooks - '1.11' os: - ubuntu-latest @@ -60,22 +59,3 @@ jobs: - uses: codecov/codecov-action@v2 with: file: lcov.info - - docs: - name: Documentation - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - uses: julia-actions/setup-julia@v1 - with: - version: '1.6' - - run: | - julia --project=docs -e ' - using Pkg - Pkg.develop(PackageSpec(path=pwd())) - Pkg.instantiate() - include("docs/make.jl")' - env: - PYTHON: "" - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} diff --git a/.github/workflows/Documentation.yml b/.github/workflows/Documentation.yml new file mode 100644 index 00000000..8c34ce63 --- /dev/null +++ b/.github/workflows/Documentation.yml @@ -0,0 +1,26 @@ +name: Documentation + +on: + push: + branches: + - master + tags: '*' + pull_request: + +jobs: + build: + permissions: + contents: write + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: julia-actions/setup-julia@v2 + with: + version: '1.11' + - name: Install dependencies + run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()' + - name: Build and deploy + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # If authenticating with GitHub Actions token + DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # If authenticating with SSH deploy key + run: julia --project=docs/ docs/make.jl diff --git a/deps/.gitignore b/deps/.gitignore index aa10a156..751b1d07 100644 --- a/deps/.gitignore +++ b/deps/.gitignore @@ -1,2 +1 @@ build.log - 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-[[deps.libblastrampoline_jll]] -deps = ["Artifacts", "Libdl", "OpenBLAS_jll"] -uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.1.1+0" - -[[deps.nghttp2_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.48.0+0" - -[[deps.p7zip_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" diff --git a/docs/make.jl b/docs/make.jl index f9d87d27..62b00aa0 100644 --- a/docs/make.jl +++ b/docs/make.jl @@ -11,8 +11,9 @@ let exampledir = joinpath(@__DIR__, "..", "examples") excludedirs = String[] excludefiles = String[] - if VERSION < v"1.1.0" - push!(excludefiles, "Symbolic double pendulum.jl") + if VERSION >= v"1.6" + push!(excludefiles, "6. Symbolics.jl") + push!(excludefiles, "7. Rigorous error bounds using IntervalArithmetic.jl") end for subdir in readdir(exampledir) subdir in excludedirs && continue @@ -66,30 +67,32 @@ end makedocs( modules = [RigidBodyDynamics, RigidBodyDynamics.OdeIntegrators], - root = @__DIR__, + format = Documenter.HTML(), checkdocs = :exports, - sitename ="RigidBodyDynamics.jl", + sitename = "RigidBodyDynamics.jl", authors = "Twan Koolen and contributors.", pages = [ "Home" => "index.md", "Tutorials" => tutorialpages, "Library" => [ - "Spatial vector algebra" => "spatial.md", + "Spatial Vector Algebra" => "spatial.md", "Joints" => "joints.md", - "Rigid bodies" => "rigidbody.md", + "Rigid Bodies" => "rigidbody.md", "Mechanism" => "mechanism.md", - "MechanismState" => "mechanismstate.md", - "Kinematics/dynamics algorithms" => "algorithms.md", - "Custom collection types" => "customcollections.md", - "Cache types" => "caches.md", + "Mechanism State" => "mechanismstate.md", + "Kinematics/Dynamics Algorithms" => "algorithms.md", + "Custom Collection Types" => "customcollections.md", + "Cache Types" => "caches.md", "Simulation" => "simulation.md", - "URDF parsing and writing" => "urdf.md", + "URDF Parsing and Writing" => "urdf.md", ], "Benchmarks" => "benchmarks.md", - ], - format = Documenter.HTML(prettyurls = parse(Bool, get(ENV, "CI", "false"))) + ], + warnonly = Documenter.except(), ) deploydocs( - repo = "github.com/JuliaRobotics/RigidBodyDynamics.jl.git" + repo="github.com/JuliaRobotics/RigidBodyDynamics.jl", + devbranch="master", + push_preview=true, ) diff --git a/docs/src/algorithms.md b/docs/src/algorithms.md index f732a647..36c7c7e6 100644 --- a/docs/src/algorithms.md +++ b/docs/src/algorithms.md @@ -1,4 +1,4 @@ -# Algorithms +# Kinematics/Dynamics Algorithms ## Index diff --git a/docs/src/caches.md b/docs/src/caches.md index b994caec..664e245c 100644 --- a/docs/src/caches.md +++ b/docs/src/caches.md @@ -1,7 +1,8 @@ -# `StateCache` +# Cache Types ```@docs StateCache DynamicsResultCache SegmentedVectorCache +WrenchesCache ``` diff --git a/docs/src/customcollections.md b/docs/src/customcollections.md index 16e0846a..a7d80b09 100644 --- a/docs/src/customcollections.md +++ b/docs/src/customcollections.md @@ -1,4 +1,4 @@ -# Custom collection types +# Custom Collection Types ## Index diff --git a/docs/src/index.md b/docs/src/index.md index 79277f4e..7f3f5726 100644 --- a/docs/src/index.md +++ b/docs/src/index.md @@ -38,11 +38,16 @@ Closed-loop systems (parallel mechanisms) are supported, with optional Baumgarte ### Installing Julia -Download links and more detailed instructions are available on the [Julia website](http://julialang.org/). The latest version of RigidBodyDynamics.jl requires Julia 0.7, but we recommend downloading 1.0 (the latest stable Julia release at the time of writing). Version 0.7 of RigidBodyDynamics.jl is the last to support Julia 0.6. +We recommend installing Julia using `juliaup` — see [Download Julia](https://julialang.org/downloads/). To install the latest Julia version, run this in your terminal: +``` +curl -fsSL https://install.julialang.org | sh +``` -!!! warning +!!! warning "Please do not use the version of "Julia" shipped by unix package managers (e.g., `apt-get` or `brew`)" + Many unix package managers ship broken and/or significantly out of date versions of Julia. - Do **not** use `apt-get` or `brew` to install Julia, as the versions provided by these package managers tend to be out of date. +!!! note "Compatibility with Julia v0.6" + Version 0.7 of RigidBodyDynamics.jl is the last to support Julia 0.6. ### Installing RigidBodyDynamics diff --git a/docs/src/mechanism.md b/docs/src/mechanism.md index 879a300d..a58ed53d 100644 --- a/docs/src/mechanism.md +++ b/docs/src/mechanism.md @@ -1,4 +1,4 @@ -# Mechanisms +# Mechanism ## Index @@ -15,7 +15,7 @@ Mechanism ## [Creating and modifying `Mechanism`s](@id mechanism_create) -See also [URDF parsing and writing](@ref) for URDF file format support. +See also [URDF Parsing and Writing](@ref) for URDF file format support. ```@docs Mechanism(root_body; gravity) diff --git a/docs/src/mechanismstate.md b/docs/src/mechanismstate.md index d1af8a3d..f1eed1ea 100644 --- a/docs/src/mechanismstate.md +++ b/docs/src/mechanismstate.md @@ -1,4 +1,4 @@ -# MechanismState +# Mechanism State ## Index diff --git a/docs/src/rigidbody.md b/docs/src/rigidbody.md index bcb75387..55edf622 100644 --- a/docs/src/rigidbody.md +++ b/docs/src/rigidbody.md @@ -1,4 +1,4 @@ -# Rigid bodies +# Rigid Bodies ## Index diff --git a/docs/src/spatial.md b/docs/src/spatial.md index 3aaee2be..e7ff728b 100644 --- a/docs/src/spatial.md +++ b/docs/src/spatial.md @@ -1,4 +1,4 @@ -# Spatial vector algebra +# Spatial Vector Algebra ## Index diff --git a/docs/src/urdf.md b/docs/src/urdf.md index ac0f9726..369f12a6 100644 --- a/docs/src/urdf.md +++ b/docs/src/urdf.md @@ -1,4 +1,4 @@ -# URDF parsing and writing +# URDF Parsing and Writing ```@docs default_urdf_joint_types diff --git a/examples/1. Quickstart - double pendulum/Manifest.toml b/examples/1. Quickstart - double pendulum/Manifest.toml index ba103054..c5cdd313 100644 --- a/examples/1. Quickstart - double pendulum/Manifest.toml +++ b/examples/1. Quickstart - double pendulum/Manifest.toml @@ -1,33 +1,26 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" project_hash = "8f7cc3388be6494a7cb012dfb39416bbbb94df82" -[[deps.ArgTools]] -uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" - [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" - -[[deps.Calculus]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430" -uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" -version = "0.5.2" +version = "1.11.0" [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.DocStringExtensions]] deps = ["LibGit2"] @@ -35,28 +28,10 @@ git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" version = "0.9.3" -[[deps.Downloads]] -deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] -uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" -version = "1.6.0" - -[[deps.DualNumbers]] -deps = ["Calculus", "NaNMath", "SpecialFunctions"] -git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566" -uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" -version = "0.6.8" - -[[deps.FileWatching]] -uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" - [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" - -[[deps.IrrationalConstants]] -git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2" -uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" -version = "0.2.2" +version = "1.11.0" [[deps.JLLWrappers]] deps = ["Artifacts", "Preferences"] @@ -64,19 +39,15 @@ git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" version = "1.6.1" -[[deps.LibCURL]] -deps = ["LibCURL_jll", "MozillaCACerts_jll"] -uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21" -version = "0.6.4" - -[[deps.LibCURL_jll]] -deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] -uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" - [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -85,6 +56,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -101,25 +73,11 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" - -[[deps.LogExpFunctions]] -deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"] -git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea" -uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" -version = "0.3.28" - - [deps.LogExpFunctions.extensions] - LogExpFunctionsChainRulesCoreExt = "ChainRulesCore" - LogExpFunctionsChangesOfVariablesExt = "ChangesOfVariables" - LogExpFunctionsInverseFunctionsExt = "InverseFunctions" - - [deps.LogExpFunctions.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" - ChangesOfVariables = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" - InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "1.11.0" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoopThrottle]] deps = ["Test"] @@ -130,21 +88,12 @@ version = "0.1.0" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" - -[[deps.MozillaCACerts_jll]] -uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" - -[[deps.NaNMath]] -deps = ["OpenLibm_jll"] -git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4" -uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" -version = "1.0.2" +version = "2.28.6+0" [[deps.NetworkOptions]] uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" @@ -153,23 +102,7 @@ version = "1.2.0" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" - -[[deps.OpenLibm_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "05823500-19ac-5b8b-9628-191a04bc5112" -version = "0.8.1+0" - -[[deps.OpenSpecFun_jll]] -deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1" -uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" -version = "0.5.5+0" - -[[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] -uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "0.3.27+1" [[deps.PrecompileTools]] deps = ["Preferences"] @@ -186,20 +119,24 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Quaternions]] -deps = ["DualNumbers", "LinearAlgebra", "Random"] -git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a" +deps = ["LinearAlgebra", "Random", "RealDot"] +git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" -version = "0.4.9" - -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +version = "0.7.6" [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" + +[[deps.RealDot]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9" +uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9" +version = "0.1.0" [[deps.Reexport]] git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" @@ -208,15 +145,21 @@ version = "1.2.2" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.4.0" +version = "2.5.0" [[deps.Rotations]] -deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] -git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] +git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.2.0" +version = "1.7.1" + + [deps.Rotations.extensions] + RotationsRecipesBaseExt = "RecipesBase" + + [deps.Rotations.weakdeps] + RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" [[deps.SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -224,25 +167,12 @@ version = "0.7.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" - -[[deps.Sockets]] -uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" - -[[deps.SpecialFunctions]] -deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] -git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14" -uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "2.4.0" - - [deps.SpecialFunctions.extensions] - SpecialFunctionsChainRulesCoreExt = "ChainRulesCore" - - [deps.SpecialFunctions.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.0" [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] @@ -263,41 +193,29 @@ git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682" uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" -[[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] -uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" - [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" version = "1.0.3" -[[deps.Tar]] -deps = ["ArgTools", "SHA"] -uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e" -version = "1.10.0" - [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TypeSortedCollections]] git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" version = "1.1.0" -[[deps.UUIDs]] -deps = ["Random", "SHA"] -uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" - [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnsafeArrays]] git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac" @@ -313,19 +231,9 @@ version = "2.13.4+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" - -[[deps.nghttp2_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" - -[[deps.p7zip_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "5.11.0+0" diff --git a/examples/2. Closed-loop simulation and visualization/2. Closed-loop simulation and visualization.jl b/examples/2. Closed-loop simulation and visualization/2. Closed-loop simulation and visualization.jl index e1634916..8669c479 100644 --- a/examples/2. Closed-loop simulation and visualization/2. Closed-loop simulation and visualization.jl +++ b/examples/2. Closed-loop simulation and visualization/2. Closed-loop simulation and visualization.jl @@ -60,12 +60,7 @@ using MeshCatMechanisms # (see [`MeshCat.jl`](https://github.com/rdeits/MeshCat.jl) for other options): mvis = MechanismVisualizer(mechanism, URDFVisuals(urdf)); - -#- - -#nb ##NBSKIP -#nb open(mvis) -#md ## open(mvis) +## open(mvis) # And animate: diff --git a/examples/2. Closed-loop simulation and visualization/Manifest.toml b/examples/2. Closed-loop simulation and visualization/Manifest.toml index 18fc6f7f..48931484 100644 --- a/examples/2. Closed-loop simulation and visualization/Manifest.toml +++ b/examples/2. Closed-loop simulation and visualization/Manifest.toml @@ -1,14 +1,14 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" -project_hash = "3f88f80c58c2ca0eb8b6a454d11120e410982bda" +project_hash = "3ceedf29862c29593528d41a87c490022b3523a9" [[deps.Adapt]] deps = ["LinearAlgebra", "Requires"] -git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608" +git-tree-sha1 = "50c3c56a52972d78e8be9fd135bfb91c9574c140" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.7.2" +version = "4.1.1" weakdeps = ["StaticArrays"] [deps.Adapt.extensions] @@ -16,10 +16,11 @@ weakdeps = ["StaticArrays"] [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" +version = "1.1.2" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.AssetRegistry]] deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"] @@ -29,12 +30,13 @@ version = "0.1.0" [[deps.AxisAlgorithms]] deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"] -git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7" +git-tree-sha1 = "01b8ccb13d68535d73d2b0c23e39bd23155fb712" uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "1.0.1" +version = "1.1.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.BitFlags]] git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d" @@ -59,11 +61,6 @@ git-tree-sha1 = "009060c9a6168704143100f36ab08f06c2af4642" uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a" version = "1.18.2+1" -[[deps.Cassette]] -git-tree-sha1 = "f8764df8d9d2aec2812f009a1ac39e46c33354b8" -uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.3.14" - [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra"] git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc" @@ -105,7 +102,7 @@ weakdeps = ["Dates", "LinearAlgebra"] [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.ConcurrentUtilities]] deps = ["Serialization", "Sockets"] @@ -147,16 +144,18 @@ version = "1.0.0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" +version = "1.11.0" [[deps.DocStringExtensions]] deps = ["LibGit2"] -git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" +git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.6" +version = "0.9.3" [[deps.Downloads]] deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] @@ -200,6 +199,7 @@ version = "4.4.4+1" [[deps.FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" +version = "1.11.0" [[deps.FixedPointNumbers]] deps = ["Statistics"] @@ -268,9 +268,9 @@ version = "1.3.14+0" [[deps.HTTP]] deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "ExceptionUnwrapping", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"] -git-tree-sha1 = "bc3f416a965ae61968c20d0ad867556367f2817d" +git-tree-sha1 = "1336e07ba2eb75614c99496501a8f4b233e9fafe" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "1.10.9" +version = "1.10.10" [[deps.HarfBuzz_jll]] deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"] @@ -287,12 +287,19 @@ version = "0.10.10" [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +version = "1.11.0" [[deps.Interpolations]] deps = ["Adapt", "AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "721ec2cf720536ad005cb38f50dbba7b02419a15" +git-tree-sha1 = "88a101217d7cb38a7b481ccd50d21876e1d1b0e0" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.14.7" +version = "0.15.1" + + [deps.Interpolations.extensions] + InterpolationsUnitfulExt = "Unitful" + + [deps.Interpolations.weakdeps] + Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d" [[deps.IterTools]] git-tree-sha1 = "42d5f897009e7ff2cf88db414a389e5ed1bdd023" @@ -354,11 +361,17 @@ version = "0.6.4" [[deps.LibCURL_jll]] deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" +version = "8.6.0+0" [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -367,6 +380,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libffi_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -413,9 +427,11 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +version = "1.11.0" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoggingExtras]] deps = ["Dates", "Logging"] @@ -438,6 +454,7 @@ version = "0.5.13" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS]] deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"] @@ -448,7 +465,7 @@ version = "1.1.9" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.Measures]] git-tree-sha1 = "c13304c81eec1ed3af7fc20e75fb6b26092a1102" @@ -462,23 +479,26 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca" version = "0.7.1" [[deps.MeshCat]] -deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"] -git-tree-sha1 = "90472d170283eb309e61db47b7d346a99409ca75" +deps = ["Base64", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"] +git-tree-sha1 = "c109e00dbcb1221e38187d36eb4579b0dfb5b918" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.16.2" +version = "1.0.0" [[deps.MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "b766636d31175340e542c833cff1895c2f3f41cc" +git-tree-sha1 = "c6ca2052dc571cfe1395a12e970101c9356cf85f" +repo-rev = "hf/upstream-changes" +repo-url = "https://github.com/ferrolho/MeshCatMechanisms.jl.git" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.9.0" +version = "0.9.1" [[deps.Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +version = "1.11.0" [[deps.MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" +version = "2023.12.12" [[deps.MsgPack]] deps = ["Serialization"] @@ -513,7 +533,7 @@ version = "1.3.5+1" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" +version = "0.3.27+1" [[deps.OpenSSL]] deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"] @@ -541,7 +561,7 @@ version = "1.6.3" [[deps.PCRE2_jll]] deps = ["Artifacts", "Libdl"] uuid = "efcefdf7-47ab-520b-bdef-62a2eaa19f15" -version = "10.42.0+0" +version = "10.42.0+1" [[deps.Parameters]] deps = ["OrderedCollections", "UnPack"] @@ -568,9 +588,15 @@ uuid = "30392449-352a-5448-841d-b1acce4e97dc" version = "0.43.4+0" [[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] +deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "1.11.0" + + [deps.Pkg.extensions] + REPLExt = "REPL" + + [deps.Pkg.weakdeps] + REPL = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" [[deps.PrecompileTools]] deps = ["Preferences"] @@ -587,6 +613,7 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Quaternions]] deps = ["LinearAlgebra", "Random", "RealDot"] @@ -594,13 +621,10 @@ git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" version = "0.7.6" -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" - [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" [[deps.Ratios]] deps = ["Requires"] @@ -631,9 +655,9 @@ version = "1.3.0" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.2" +version = "2.5.0" [[deps.Rotations]] deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] @@ -653,10 +677,12 @@ version = "0.7.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" +version = "1.11.0" [[deps.SharedArrays]] deps = ["Distributed", "Mmap", "Random", "Serialization"] uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" +version = "1.11.0" [[deps.SimpleBufferStream]] git-tree-sha1 = "f305871d2f381d21527c770d4788c06c097c9bc1" @@ -665,10 +691,12 @@ version = "1.2.0" [[deps.Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +version = "1.11.0" [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] @@ -687,9 +715,14 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" [[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] +deps = ["LinearAlgebra"] +git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0" uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" +version = "1.11.1" +weakdeps = ["SparseArrays"] + + [deps.Statistics.extensions] + SparseArraysExt = ["SparseArrays"] [[deps.StructArrays]] deps = ["ConstructionBase", "DataAPI", "Tables"] @@ -710,9 +743,9 @@ version = "0.6.18" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] @@ -739,6 +772,7 @@ version = "1.10.0" [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TranscodingStreams]] git-tree-sha1 = "0c45878dcfdcfa8480052b6ab162cdd138781742" @@ -758,6 +792,7 @@ version = "1.5.1" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.UnPack]] git-tree-sha1 = "387c1f73762231e86e0c9c5443ce3b4a0a9a0c2b" @@ -766,6 +801,7 @@ version = "1.0.2" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnsafeArrays]] git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac" @@ -792,9 +828,9 @@ version = "0.6.6" [[deps.WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "5f24e158cf4cee437052371455fe361f526da062" +git-tree-sha1 = "c1a7aa6219628fcd757dede0ca95e245c5cd9511" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.6" +version = "1.0.0" [[deps.XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"] @@ -859,7 +895,7 @@ version = "1.5.0+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libaom_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -876,7 +912,7 @@ version = "0.15.2+0" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" +version = "5.11.0+0" [[deps.libfdk_aac_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -899,12 +935,12 @@ version = "1.3.7+2" [[deps.nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" +version = "1.59.0+0" [[deps.p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "17.4.0+2" [[deps.x264_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] diff --git a/examples/2. Closed-loop simulation and visualization/Project.toml b/examples/2. Closed-loop simulation and visualization/Project.toml index b4b7bec5..eac5b05a 100644 --- a/examples/2. Closed-loop simulation and visualization/Project.toml +++ b/examples/2. Closed-loop simulation and visualization/Project.toml @@ -4,4 +4,5 @@ MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d" RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" [compat] -MeshCat = "0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16" +MeshCat = "0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16, 1" +MeshCatMechanisms = "0.8, 0.9" diff --git a/examples/3. Four-bar linkage/3. Four-bar linkage.jl b/examples/3. Four-bar linkage/3. Four-bar linkage.jl index a346eb42..a53924e0 100644 --- a/examples/3. Four-bar linkage/3. Four-bar linkage.jl +++ b/examples/3. Four-bar linkage/3. Four-bar linkage.jl @@ -149,12 +149,7 @@ using MeshCatMechanisms # (see [`MeshCat.jl`](https://github.com/rdeits/MeshCat.jl) for other options): mvis = MechanismVisualizer(fourbar, Skeleton(inertias=false)); - -#- - -#nb ##NBSKIP -#nb open(mvis) -#md ## open(mvis) +## open(mvis) # And animate: MeshCatMechanisms.animate(mvis, ts, qs; realtimerate = 1.); diff --git a/examples/3. Four-bar linkage/Manifest.toml b/examples/3. Four-bar linkage/Manifest.toml index 8f943999..e3bfc169 100644 --- a/examples/3. Four-bar linkage/Manifest.toml +++ b/examples/3. Four-bar linkage/Manifest.toml @@ -1,14 +1,14 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" -project_hash = "7a77bdb04ffe215b26280152602ca7aaf8d3a3e0" +project_hash = "d534e0f9adc3222c44db39ed7e1746749ef35f87" [[deps.Adapt]] deps = ["LinearAlgebra", "Requires"] -git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608" +git-tree-sha1 = "50c3c56a52972d78e8be9fd135bfb91c9574c140" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.7.2" +version = "4.1.1" weakdeps = ["StaticArrays"] [deps.Adapt.extensions] @@ -16,10 +16,11 @@ weakdeps = ["StaticArrays"] [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" +version = "1.1.2" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.AssetRegistry]] deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"] @@ -29,12 +30,13 @@ version = "0.1.0" [[deps.AxisAlgorithms]] deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"] -git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7" +git-tree-sha1 = "01b8ccb13d68535d73d2b0c23e39bd23155fb712" uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "1.0.1" +version = "1.1.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.BitFlags]] git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d" @@ -59,11 +61,6 @@ git-tree-sha1 = "009060c9a6168704143100f36ab08f06c2af4642" uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a" version = "1.18.2+1" -[[deps.Cassette]] -git-tree-sha1 = "f8764df8d9d2aec2812f009a1ac39e46c33354b8" -uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.3.14" - [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra"] git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc" @@ -105,7 +102,7 @@ weakdeps = ["Dates", "LinearAlgebra"] [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.ConcurrentUtilities]] deps = ["Serialization", "Sockets"] @@ -147,16 +144,18 @@ version = "1.0.0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" +version = "1.11.0" [[deps.DocStringExtensions]] deps = ["LibGit2"] -git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" +git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.6" +version = "0.9.3" [[deps.Downloads]] deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] @@ -200,6 +199,7 @@ version = "4.4.4+1" [[deps.FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" +version = "1.11.0" [[deps.FixedPointNumbers]] deps = ["Statistics"] @@ -268,9 +268,9 @@ version = "1.3.14+0" [[deps.HTTP]] deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "ExceptionUnwrapping", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"] -git-tree-sha1 = "bc3f416a965ae61968c20d0ad867556367f2817d" +git-tree-sha1 = "1336e07ba2eb75614c99496501a8f4b233e9fafe" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "1.10.9" +version = "1.10.10" [[deps.HarfBuzz_jll]] deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"] @@ -287,12 +287,19 @@ version = "0.10.10" [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +version = "1.11.0" [[deps.Interpolations]] deps = ["Adapt", "AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "721ec2cf720536ad005cb38f50dbba7b02419a15" +git-tree-sha1 = "88a101217d7cb38a7b481ccd50d21876e1d1b0e0" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.14.7" +version = "0.15.1" + + [deps.Interpolations.extensions] + InterpolationsUnitfulExt = "Unitful" + + [deps.Interpolations.weakdeps] + Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d" [[deps.IterTools]] git-tree-sha1 = "42d5f897009e7ff2cf88db414a389e5ed1bdd023" @@ -354,11 +361,17 @@ version = "0.6.4" [[deps.LibCURL_jll]] deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" +version = "8.6.0+0" [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -367,6 +380,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libffi_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -413,9 +427,11 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +version = "1.11.0" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoggingExtras]] deps = ["Dates", "Logging"] @@ -438,6 +454,7 @@ version = "0.5.13" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS]] deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"] @@ -448,7 +465,7 @@ version = "1.1.9" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.Measures]] git-tree-sha1 = "c13304c81eec1ed3af7fc20e75fb6b26092a1102" @@ -462,23 +479,26 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca" version = "0.7.1" [[deps.MeshCat]] -deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"] -git-tree-sha1 = "90472d170283eb309e61db47b7d346a99409ca75" +deps = ["Base64", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"] +git-tree-sha1 = "c109e00dbcb1221e38187d36eb4579b0dfb5b918" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.16.2" +version = "1.0.0" [[deps.MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "b766636d31175340e542c833cff1895c2f3f41cc" +git-tree-sha1 = "c6ca2052dc571cfe1395a12e970101c9356cf85f" +repo-rev = "hf/upstream-changes" +repo-url = "https://github.com/ferrolho/MeshCatMechanisms.jl.git" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.9.0" +version = "0.9.1" [[deps.Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +version = "1.11.0" [[deps.MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" +version = "2023.12.12" [[deps.MsgPack]] deps = ["Serialization"] @@ -513,7 +533,7 @@ version = "1.3.5+1" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" +version = "0.3.27+1" [[deps.OpenSSL]] deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"] @@ -541,7 +561,7 @@ version = "1.6.3" [[deps.PCRE2_jll]] deps = ["Artifacts", "Libdl"] uuid = "efcefdf7-47ab-520b-bdef-62a2eaa19f15" -version = "10.42.0+0" +version = "10.42.0+1" [[deps.Parameters]] deps = ["OrderedCollections", "UnPack"] @@ -568,9 +588,15 @@ uuid = "30392449-352a-5448-841d-b1acce4e97dc" version = "0.43.4+0" [[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] +deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "1.11.0" + + [deps.Pkg.extensions] + REPLExt = "REPL" + + [deps.Pkg.weakdeps] + REPL = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" [[deps.PrecompileTools]] deps = ["Preferences"] @@ -587,6 +613,7 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Quaternions]] deps = ["LinearAlgebra", "Random", "RealDot"] @@ -594,13 +621,10 @@ git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" version = "0.7.6" -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" - [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" [[deps.Ratios]] deps = ["Requires"] @@ -631,9 +655,9 @@ version = "1.3.0" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.2" +version = "2.5.0" [[deps.Rotations]] deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] @@ -653,10 +677,12 @@ version = "0.7.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" +version = "1.11.0" [[deps.SharedArrays]] deps = ["Distributed", "Mmap", "Random", "Serialization"] uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" +version = "1.11.0" [[deps.SimpleBufferStream]] git-tree-sha1 = "f305871d2f381d21527c770d4788c06c097c9bc1" @@ -665,10 +691,12 @@ version = "1.2.0" [[deps.Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +version = "1.11.0" [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] @@ -687,9 +715,14 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" [[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] +deps = ["LinearAlgebra"] +git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0" uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" +version = "1.11.1" +weakdeps = ["SparseArrays"] + + [deps.Statistics.extensions] + SparseArraysExt = ["SparseArrays"] [[deps.StructArrays]] deps = ["ConstructionBase", "DataAPI", "Tables"] @@ -710,9 +743,9 @@ version = "0.6.18" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] @@ -739,6 +772,7 @@ version = "1.10.0" [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TranscodingStreams]] git-tree-sha1 = "0c45878dcfdcfa8480052b6ab162cdd138781742" @@ -758,6 +792,7 @@ version = "1.5.1" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.UnPack]] git-tree-sha1 = "387c1f73762231e86e0c9c5443ce3b4a0a9a0c2b" @@ -766,6 +801,7 @@ version = "1.0.2" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnsafeArrays]] git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac" @@ -792,9 +828,9 @@ version = "0.6.6" [[deps.WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "5f24e158cf4cee437052371455fe361f526da062" +git-tree-sha1 = "c1a7aa6219628fcd757dede0ca95e245c5cd9511" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.6" +version = "1.0.0" [[deps.XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"] @@ -859,7 +895,7 @@ version = "1.5.0+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libaom_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -876,7 +912,7 @@ version = "0.15.2+0" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" +version = "5.11.0+0" [[deps.libfdk_aac_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -899,12 +935,12 @@ version = "1.3.7+2" [[deps.nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" +version = "1.59.0+0" [[deps.p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "17.4.0+2" [[deps.x264_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] diff --git a/examples/3. Four-bar linkage/Project.toml b/examples/3. Four-bar linkage/Project.toml index 5c12ab14..c4c1f274 100644 --- a/examples/3. Four-bar linkage/Project.toml +++ b/examples/3. Four-bar linkage/Project.toml @@ -6,4 +6,5 @@ RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" [compat] -MeshCat = "0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16" +MeshCat = "0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16, 1" +MeshCatMechanisms = "0.8, 0.9" diff --git a/examples/4. Jacobian IK and Control/4. Jacobian IK and Control.jl b/examples/4. Jacobian IK and Control/4. Jacobian IK and Control.jl index 2a080d24..c9d457fb 100644 --- a/examples/4. Jacobian IK and Control/4. Jacobian IK and Control.jl +++ b/examples/4. Jacobian IK and Control/4. Jacobian IK and Control.jl @@ -41,14 +41,13 @@ point = Point3D(default_frame(body), 0., 0, -2) ## Create the visualizer vis = MechanismVisualizer(mechanism, URDFVisuals(urdf)) +## open(vis, Application()); # Open the visualizer in a new Electron window -## Render our target point attached to the robot as a sphere with radius 0.07 +#- + +# Render our target point attached to the robot as a sphere with radius 0.07. setelement!(vis, point, 0.07) -# Open the visualizer in a new Electron window: -#nb ##NBSKIP -#nb open(vis, Application()); -#md ## open(vis, Application()); # ## Inverse Kinematics diff --git a/examples/4. Jacobian IK and Control/Manifest.toml b/examples/4. Jacobian IK and Control/Manifest.toml index 0f72d766..0ff5cba6 100644 --- a/examples/4. Jacobian IK and Control/Manifest.toml +++ b/examples/4. Jacobian IK and Control/Manifest.toml @@ -1,14 +1,14 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" -project_hash = "57912b674860b02adbb24c85dcfc1ca99ed81fed" +project_hash = "0b7d273e36ccd5b066f3e7dce1545d7f44b94841" [[deps.Adapt]] deps = ["LinearAlgebra", "Requires"] -git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608" +git-tree-sha1 = "50c3c56a52972d78e8be9fd135bfb91c9574c140" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.7.2" +version = "4.1.1" weakdeps = ["StaticArrays"] [deps.Adapt.extensions] @@ -16,10 +16,11 @@ weakdeps = ["StaticArrays"] [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" +version = "1.1.2" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.AssetRegistry]] deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"] @@ -29,12 +30,13 @@ version = "0.1.0" [[deps.AxisAlgorithms]] deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"] -git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7" +git-tree-sha1 = "01b8ccb13d68535d73d2b0c23e39bd23155fb712" uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "1.0.1" +version = "1.1.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.BitFlags]] git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d" @@ -59,11 +61,6 @@ git-tree-sha1 = "009060c9a6168704143100f36ab08f06c2af4642" uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a" version = "1.18.2+1" -[[deps.Cassette]] -git-tree-sha1 = "f8764df8d9d2aec2812f009a1ac39e46c33354b8" -uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.3.14" - [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra"] git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc" @@ -82,9 +79,9 @@ version = "0.7.6" [[deps.ColorSchemes]] deps = ["ColorTypes", "ColorVectorSpace", "Colors", "FixedPointNumbers", "PrecompileTools", "Random"] -git-tree-sha1 = "13951eb68769ad1cd460cdb2e64e5e95f1bf123d" +git-tree-sha1 = "c785dfb1b3bfddd1da557e861b919819b82bbe5b" uuid = "35d6a980-a343-548e-a6ea-1d62b119f2f4" -version = "3.27.0" +version = "3.27.1" [[deps.ColorTypes]] deps = ["FixedPointNumbers", "Random"] @@ -123,7 +120,7 @@ weakdeps = ["Dates", "LinearAlgebra"] [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.ConcurrentUtilities]] deps = ["Serialization", "Sockets"] @@ -176,6 +173,7 @@ version = "1.0.0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.Dbus_jll]] deps = ["Artifacts", "Expat_jll", "JLLWrappers", "Libdl"] @@ -192,12 +190,13 @@ version = "1.9.1" [[deps.Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" +version = "1.11.0" [[deps.DocStringExtensions]] deps = ["LibGit2"] -git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" +git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.6" +version = "0.9.3" [[deps.Downloads]] deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] @@ -270,6 +269,7 @@ weakdeps = ["Mmap", "Test"] [[deps.FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" +version = "1.11.0" [[deps.FixedPointNumbers]] deps = ["Statistics"] @@ -372,9 +372,9 @@ version = "1.0.2" [[deps.HTTP]] deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "ExceptionUnwrapping", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"] -git-tree-sha1 = "bc3f416a965ae61968c20d0ad867556367f2817d" +git-tree-sha1 = "1336e07ba2eb75614c99496501a8f4b233e9fafe" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "1.10.9" +version = "1.10.10" [[deps.HarfBuzz_jll]] deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"] @@ -391,12 +391,17 @@ version = "0.10.10" [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +version = "1.11.0" [[deps.Interpolations]] deps = ["Adapt", "AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "721ec2cf720536ad005cb38f50dbba7b02419a15" +git-tree-sha1 = "88a101217d7cb38a7b481ccd50d21876e1d1b0e0" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.14.7" +version = "0.15.1" +weakdeps = ["Unitful"] + + [deps.Interpolations.extensions] + InterpolationsUnitfulExt = "Unitful" [[deps.IrrationalConstants]] git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2" @@ -502,11 +507,17 @@ version = "0.6.4" [[deps.LibCURL_jll]] deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" +version = "8.6.0+0" [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -515,6 +526,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libffi_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -573,6 +585,7 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +version = "1.11.0" [[deps.LogExpFunctions]] deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"] @@ -592,6 +605,7 @@ version = "0.3.28" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoggingExtras]] deps = ["Dates", "Logging"] @@ -614,6 +628,7 @@ version = "0.5.13" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS]] deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"] @@ -624,7 +639,7 @@ version = "1.1.9" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.Measures]] git-tree-sha1 = "c13304c81eec1ed3af7fc20e75fb6b26092a1102" @@ -638,16 +653,18 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca" version = "0.7.1" [[deps.MeshCat]] -deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"] -git-tree-sha1 = "90472d170283eb309e61db47b7d346a99409ca75" +deps = ["Base64", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"] +git-tree-sha1 = "c109e00dbcb1221e38187d36eb4579b0dfb5b918" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.16.2" +version = "1.0.0" [[deps.MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "b766636d31175340e542c833cff1895c2f3f41cc" +git-tree-sha1 = "c6ca2052dc571cfe1395a12e970101c9356cf85f" +repo-rev = "hf/upstream-changes" +repo-url = "https://github.com/ferrolho/MeshCatMechanisms.jl.git" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.9.0" +version = "0.9.1" [[deps.Missings]] deps = ["DataAPI"] @@ -657,10 +674,11 @@ version = "1.2.0" [[deps.Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +version = "1.11.0" [[deps.MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" +version = "2023.12.12" [[deps.MsgPack]] deps = ["Serialization"] @@ -701,12 +719,12 @@ version = "1.3.5+1" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" +version = "0.3.27+1" [[deps.OpenLibm_jll]] deps = ["Artifacts", "Libdl"] uuid = "05823500-19ac-5b8b-9628-191a04bc5112" -version = "0.8.1+0" +version = "0.8.1+2" [[deps.OpenSSL]] deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"] @@ -734,7 +752,7 @@ version = "1.6.3" [[deps.PCRE2_jll]] deps = ["Artifacts", "Libdl"] uuid = "efcefdf7-47ab-520b-bdef-62a2eaa19f15" -version = "10.42.0+0" +version = "10.42.0+1" [[deps.Pango_jll]] deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "FriBidi_jll", "Glib_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl"] @@ -772,9 +790,13 @@ uuid = "30392449-352a-5448-841d-b1acce4e97dc" version = "0.43.4+0" [[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] +deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "1.11.0" +weakdeps = ["REPL"] + + [deps.Pkg.extensions] + REPLExt = "REPL" [[deps.PlotThemes]] deps = ["PlotUtils", "Statistics"] @@ -823,6 +845,7 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Qt6Base_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Fontconfig_jll", "Glib_jll", "JLLWrappers", "Libdl", "Libglvnd_jll", "OpenSSL_jll", "Vulkan_Loader_jll", "Xorg_libSM_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Xorg_libxcb_jll", "Xorg_xcb_util_cursor_jll", "Xorg_xcb_util_image_jll", "Xorg_xcb_util_keysyms_jll", "Xorg_xcb_util_renderutil_jll", "Xorg_xcb_util_wm_jll", "Zlib_jll", "libinput_jll", "xkbcommon_jll"] @@ -855,12 +878,14 @@ uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" version = "0.7.6" [[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] +deps = ["InteractiveUtils", "Markdown", "Sockets", "StyledStrings", "Unicode"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +version = "1.11.0" [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" [[deps.Ratios]] deps = ["Requires"] @@ -909,9 +934,9 @@ version = "1.3.0" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.2" +version = "2.5.0" [[deps.Rotations]] deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] @@ -935,10 +960,12 @@ version = "1.2.1" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" +version = "1.11.0" [[deps.SharedArrays]] deps = ["Distributed", "Mmap", "Random", "Serialization"] uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" +version = "1.11.0" [[deps.Showoff]] deps = ["Dates", "Grisu"] @@ -953,6 +980,7 @@ version = "1.2.0" [[deps.Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SortingAlgorithms]] deps = ["DataStructures"] @@ -963,6 +991,7 @@ version = "1.2.1" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +version = "1.11.0" [[deps.StableRNGs]] deps = ["Random"] @@ -987,9 +1016,14 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" [[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] +deps = ["LinearAlgebra"] +git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0" uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" +version = "1.11.1" +weakdeps = ["SparseArrays"] + + [deps.Statistics.extensions] + SparseArraysExt = ["SparseArrays"] [[deps.StatsAPI]] deps = ["LinearAlgebra"] @@ -1021,10 +1055,14 @@ version = "0.6.18" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" +[[deps.StyledStrings]] +uuid = "f489334b-da3d-4c2e-b8f0-e476e12c162b" +version = "1.11.0" + [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] @@ -1057,6 +1095,7 @@ version = "0.1.1" [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TranscodingStreams]] git-tree-sha1 = "0c45878dcfdcfa8480052b6ab162cdd138781742" @@ -1076,6 +1115,7 @@ version = "1.5.1" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.UnPack]] git-tree-sha1 = "387c1f73762231e86e0c9c5443ce3b4a0a9a0c2b" @@ -1084,6 +1124,7 @@ version = "1.0.2" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnicodeFun]] deps = ["REPL"] @@ -1159,9 +1200,9 @@ version = "0.6.6" [[deps.WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "5f24e158cf4cee437052371455fe361f526da062" +git-tree-sha1 = "c1a7aa6219628fcd757dede0ca95e245c5cd9511" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.6" +version = "1.0.0" [[deps.XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"] @@ -1328,7 +1369,7 @@ version = "1.5.0+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.Zstd_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -1369,7 +1410,7 @@ version = "0.15.2+0" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" +version = "5.11.0+0" [[deps.libdecor_jll]] deps = ["Artifacts", "Dbus_jll", "JLLWrappers", "Libdl", "Libglvnd_jll", "Pango_jll", "Wayland_jll", "xkbcommon_jll"] @@ -1416,12 +1457,12 @@ version = "1.1.6+0" [[deps.nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" +version = "1.59.0+0" [[deps.p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "17.4.0+2" [[deps.x264_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] diff --git a/examples/4. Jacobian IK and Control/Project.toml b/examples/4. Jacobian IK and Control/Project.toml index 57162099..188b58a1 100644 --- a/examples/4. Jacobian IK and Control/Project.toml +++ b/examples/4. Jacobian IK and Control/Project.toml @@ -8,4 +8,5 @@ RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" [compat] -MeshCat = "0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16" +MeshCat = "0.10, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16, 1" +MeshCatMechanisms = "0.8, 0.9" diff --git a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml index 76951ef4..8fb9a48d 100644 --- a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml +++ b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml @@ -1,18 +1,20 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" project_hash = "510b48287c09a8847f0a555bda4a640614bff15e" [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" +version = "1.1.2" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.BenchmarkTools]] deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"] @@ -20,12 +22,6 @@ git-tree-sha1 = "f1dff6729bc61f4d49e140da1af55dcd1ac97b2f" uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf" version = "1.5.0" -[[deps.Calculus]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430" -uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" -version = "0.5.2" - [[deps.CommonSubexpressions]] deps = ["MacroTools"] git-tree-sha1 = "cda2cfaebb4be89c9084adaca7dd7333369715c5" @@ -35,11 +31,12 @@ version = "0.3.1" [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.DiffResults]] deps = ["StaticArraysCore"] @@ -64,20 +61,15 @@ deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" version = "1.6.0" -[[deps.DualNumbers]] -deps = ["Calculus", "NaNMath", "SpecialFunctions"] -git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566" -uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" -version = "0.6.8" - [[deps.FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" +version = "1.11.0" [[deps.ForwardDiff]] deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"] -git-tree-sha1 = "a9ce73d3c827adab2d70bf168aaece8cce196898" +git-tree-sha1 = "a2df1b776752e3f344e5116c06d75a10436ab853" uuid = "f6369f11-7733-5829-9624-2563aa707210" -version = "0.10.37" +version = "0.10.38" weakdeps = ["StaticArrays"] [deps.ForwardDiff.extensions] @@ -86,6 +78,7 @@ weakdeps = ["StaticArrays"] [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +version = "1.11.0" [[deps.IrrationalConstants]] git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2" @@ -112,11 +105,17 @@ version = "0.6.4" [[deps.LibCURL_jll]] deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" +version = "8.6.0+0" [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -125,6 +124,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -141,6 +141,7 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +version = "1.11.0" [[deps.LogExpFunctions]] deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"] @@ -160,6 +161,7 @@ version = "0.3.28" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoopThrottle]] deps = ["Test"] @@ -176,18 +178,20 @@ version = "0.5.13" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +version = "1.11.0" [[deps.MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" +version = "2023.12.12" [[deps.NaNMath]] deps = ["OpenLibm_jll"] @@ -202,12 +206,12 @@ version = "1.2.0" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" +version = "0.3.27+1" [[deps.OpenLibm_jll]] deps = ["Artifacts", "Libdl"] uuid = "05823500-19ac-5b8b-9628-191a04bc5112" -version = "0.8.1+0" +version = "0.8.1+2" [[deps.OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] @@ -222,9 +226,15 @@ uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" version = "2.8.1" [[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] +deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "1.11.0" + + [deps.Pkg.extensions] + REPLExt = "REPL" + + [deps.Pkg.weakdeps] + REPL = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" [[deps.PrecompileTools]] deps = ["Preferences"] @@ -241,24 +251,28 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Profile]] -deps = ["Printf"] uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79" +version = "1.11.0" [[deps.Quaternions]] -deps = ["DualNumbers", "LinearAlgebra", "Random"] -git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a" +deps = ["LinearAlgebra", "Random", "RealDot"] +git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" -version = "0.4.9" - -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +version = "0.7.6" [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" + +[[deps.RealDot]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9" +uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9" +version = "0.1.0" [[deps.Reexport]] git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" @@ -267,15 +281,21 @@ version = "1.2.2" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.4.0" +version = "2.5.0" [[deps.Rotations]] -deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] -git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] +git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.2.0" +version = "1.7.1" + + [deps.Rotations.extensions] + RotationsRecipesBaseExt = "RecipesBase" + + [deps.Rotations.weakdeps] + RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" [[deps.SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -283,13 +303,12 @@ version = "0.7.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" - -[[deps.Sockets]] -uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +version = "1.11.0" [[deps.SpecialFunctions]] deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] @@ -323,14 +342,19 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" [[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] +deps = ["LinearAlgebra"] +git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0" uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" +version = "1.11.1" +weakdeps = ["SparseArrays"] + + [deps.Statistics.extensions] + SparseArraysExt = ["SparseArrays"] [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] @@ -345,6 +369,7 @@ version = "1.10.0" [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TypeSortedCollections]] git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" @@ -354,9 +379,11 @@ version = "1.1.0" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnsafeArrays]] git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac" @@ -372,19 +399,19 @@ version = "2.13.4+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" +version = "5.11.0+0" [[deps.nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" +version = "1.59.0+0" [[deps.p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "17.4.0+2" diff --git a/examples/6. Symbolics/Manifest.toml b/examples/6. Symbolics/Manifest.toml index def58707..df93b2da 100644 --- a/examples/6. Symbolics/Manifest.toml +++ b/examples/6. Symbolics/Manifest.toml @@ -1,30 +1,57 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" project_hash = "b85fe0e9ec615134f7a540386dbd29224a001a21" [[deps.ADTypes]] -git-tree-sha1 = "016833eb52ba2d6bea9fcb50ca295980e728ee24" +git-tree-sha1 = "eea5d80188827b35333801ef97a40c2ed653b081" uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b" -version = "0.2.7" +version = "1.9.0" + + [deps.ADTypes.extensions] + ADTypesChainRulesCoreExt = "ChainRulesCore" + ADTypesEnzymeCoreExt = "EnzymeCore" -[[deps.AbstractAlgebra]] -deps = ["GroupsCore", "InteractiveUtils", "LinearAlgebra", "MacroTools", "Preferences", "Random", "RandomExtensions", "SparseArrays", "Test"] -git-tree-sha1 = "d7832de8cf7af26abac741f10372080ac6cb73df" -uuid = "c3fe647b-3220-5bb0-a1ea-a7954cac585d" -version = "0.34.7" + [deps.ADTypes.weakdeps] + ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" + EnzymeCore = "f151be2c-9106-41f4-ab19-57ee4f262869" [[deps.AbstractTrees]] git-tree-sha1 = "2d9c9a55f9c93e8887ad391fbae72f8ef55e1177" uuid = "1520ce14-60c1-5f80-bbc7-55ef81b5835c" version = "0.4.5" +[[deps.Accessors]] +deps = ["CompositionsBase", "ConstructionBase", "InverseFunctions", "LinearAlgebra", "MacroTools", "Markdown"] +git-tree-sha1 = "b392ede862e506d451fc1616e79aa6f4c673dab8" +uuid = "7d9f7c33-5ae7-4f3b-8dc6-eff91059b697" +version = "0.1.38" + + [deps.Accessors.extensions] + AccessorsAxisKeysExt = "AxisKeys" + AccessorsDatesExt = "Dates" + AccessorsIntervalSetsExt = "IntervalSets" + AccessorsStaticArraysExt = "StaticArrays" + AccessorsStructArraysExt = "StructArrays" + AccessorsTestExt = "Test" + AccessorsUnitfulExt = "Unitful" + + [deps.Accessors.weakdeps] + AxisKeys = "94b1ba4f-4ee9-5380-92f1-94cde586c3c5" + Dates = "ade2ca70-3891-5945-98fb-dc099432e06a" + IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953" + Requires = "ae029012-a4dd-5104-9daa-d747884805df" + StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" + StructArrays = "09ab397b-f2b6-538f-b94a-2f83cf4a842a" + Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40" + Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d" + [[deps.Adapt]] deps = ["LinearAlgebra", "Requires"] -git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608" +git-tree-sha1 = "50c3c56a52972d78e8be9fd135bfb91c9574c140" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.7.2" +version = "4.1.1" weakdeps = ["StaticArrays"] [deps.Adapt.extensions] @@ -38,19 +65,24 @@ version = "1.1.3" [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" +version = "1.1.2" [[deps.ArrayInterface]] -deps = ["Adapt", "LinearAlgebra", "Requires", "SparseArrays", "SuiteSparse"] -git-tree-sha1 = "c5aeb516a84459e0318a02507d2261edad97eb75" +deps = ["Adapt", "LinearAlgebra"] +git-tree-sha1 = "d60a1922358aa203019b7857a2c8c37329b8736c" uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9" -version = "7.7.1" +version = "7.17.0" [deps.ArrayInterface.extensions] ArrayInterfaceBandedMatricesExt = "BandedMatrices" ArrayInterfaceBlockBandedMatricesExt = "BlockBandedMatrices" ArrayInterfaceCUDAExt = "CUDA" + ArrayInterfaceCUDSSExt = "CUDSS" + ArrayInterfaceChainRulesCoreExt = "ChainRulesCore" + ArrayInterfaceChainRulesExt = "ChainRules" ArrayInterfaceGPUArraysCoreExt = "GPUArraysCore" + ArrayInterfaceReverseDiffExt = "ReverseDiff" + ArrayInterfaceSparseArraysExt = "SparseArrays" ArrayInterfaceStaticArraysCoreExt = "StaticArraysCore" ArrayInterfaceTrackerExt = "Tracker" @@ -58,27 +90,28 @@ version = "7.7.1" BandedMatrices = "aae01518-5342-5314-be14-df237901396f" BlockBandedMatrices = "ffab5731-97b5-5995-9138-79e8c1846df0" CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba" + CUDSS = "45b445bb-4962-46a0-9369-b4df9d0f772e" + ChainRules = "082447d4-558c-5d27-93f4-14fc19e9eca2" + ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" GPUArraysCore = "46192b85-c4d5-4398-a991-12ede77f4527" + ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" + SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" StaticArraysCore = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.Bijections]] git-tree-sha1 = "d8b0439d2be438a5f2cd68ec158fe08a7b2595b7" uuid = "e2ed5e7c-b2de-5872-ae92-c73ca462fb04" version = "0.1.9" -[[deps.Calculus]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430" -uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" -version = "0.5.2" - [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra"] git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc" @@ -99,11 +132,10 @@ git-tree-sha1 = "0eee5eb66b1cf62cd6ad1b460238e60e4b09400c" uuid = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2" version = "0.2.4" -[[deps.CommonSubexpressions]] -deps = ["MacroTools"] -git-tree-sha1 = "cda2cfaebb4be89c9084adaca7dd7333369715c5" -uuid = "bbf7d656-a473-5ed7-a52c-81e309532950" -version = "0.3.1" +[[deps.CommonWorldInvalidations]] +git-tree-sha1 = "ae52d1c52048455e85a387fbee9be553ec2b68d0" +uuid = "f70d9fcc-98c5-4d4a-abd7-e4cdeebd8ca8" +version = "1.0.0" [[deps.Compat]] deps = ["TOML", "UUIDs"] @@ -118,29 +150,33 @@ weakdeps = ["Dates", "LinearAlgebra"] [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.CompositeTypes]] git-tree-sha1 = "bce26c3dab336582805503bed209faab1c279768" uuid = "b152e2b5-7a66-4b01-a709-34e65c35f657" version = "0.1.4" +[[deps.CompositionsBase]] +git-tree-sha1 = "802bb88cd69dfd1509f6670416bd4434015693ad" +uuid = "a33af91c-f02d-484b-be07-31d278c5ca2b" +version = "0.1.2" +weakdeps = ["InverseFunctions"] + + [deps.CompositionsBase.extensions] + CompositionsBaseInverseFunctionsExt = "InverseFunctions" + [[deps.ConstructionBase]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "d8a9c0b6ac2d9081bf76324b39c78ca3ce4f0c98" +git-tree-sha1 = "76219f1ed5771adbb096743bff43fb5fdd4c1157" uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9" -version = "1.5.6" -weakdeps = ["IntervalSets", "StaticArrays"] +version = "1.5.8" +weakdeps = ["IntervalSets", "LinearAlgebra", "StaticArrays"] [deps.ConstructionBase.extensions] ConstructionBaseIntervalSetsExt = "IntervalSets" + ConstructionBaseLinearAlgebraExt = "LinearAlgebra" ConstructionBaseStaticArraysExt = "StaticArrays" -[[deps.Crayons]] -git-tree-sha1 = "249fe38abf76d48563e2f4556bebd215aa317e15" -uuid = "a8cc5b0e-0ffa-5ad4-8c14-923d3ee1735f" -version = "4.1.1" - [[deps.DataAPI]] git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe" uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" @@ -160,12 +196,7 @@ version = "1.0.0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" - -[[deps.DiffResults]] -deps = ["StaticArraysCore"] -git-tree-sha1 = "782dd5f4561f5d267313f23853baaaa4c52ea621" -uuid = "163ba53b-c6d8-5494-b064-1a9d43ac40c5" -version = "1.1.0" +version = "1.11.0" [[deps.DiffRules]] deps = ["IrrationalConstants", "LogExpFunctions", "NaNMath", "Random", "SpecialFunctions"] @@ -176,6 +207,7 @@ version = "1.15.1" [[deps.Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" +version = "1.11.0" [[deps.Distributions]] deps = ["AliasTables", "FillArrays", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SpecialFunctions", "Statistics", "StatsAPI", "StatsBase", "StatsFuns"] @@ -200,27 +232,27 @@ uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" version = "0.9.3" [[deps.DomainSets]] -deps = ["CompositeTypes", "IntervalSets", "LinearAlgebra", "Random", "StaticArrays", "Statistics"] -git-tree-sha1 = "51b4b84d33ec5e0955b55ff4b748b99ce2c3faa9" +deps = ["CompositeTypes", "IntervalSets", "LinearAlgebra", "Random", "StaticArrays"] +git-tree-sha1 = "490392af2c7d63183bfa2c8aaa6ab981c5ba7561" uuid = "5b8099bc-c8ec-5219-889f-1d9e522a28bf" -version = "0.6.7" +version = "0.7.14" + + [deps.DomainSets.extensions] + DomainSetsMakieExt = "Makie" + + [deps.DomainSets.weakdeps] + Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a" [[deps.Downloads]] deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" version = "1.6.0" -[[deps.DualNumbers]] -deps = ["Calculus", "NaNMath", "SpecialFunctions"] -git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566" -uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" -version = "0.6.8" - [[deps.DynamicPolynomials]] -deps = ["Future", "LinearAlgebra", "MultivariatePolynomials", "MutableArithmetics", "Pkg", "Reexport", "Test"] -git-tree-sha1 = "30a1848c4f4fc35d1d4bbbd125650f6a11b5bc6c" +deps = ["Future", "LinearAlgebra", "MultivariatePolynomials", "MutableArithmetics", "Reexport", "Test"] +git-tree-sha1 = "bbf1ace0781d9744cb697fb856bd2c3f6568dadb" uuid = "7c1d4256-1411-5781-91ec-d7bc3513ac07" -version = "0.5.7" +version = "0.6.0" [[deps.EnumX]] git-tree-sha1 = "bdb1942cd4c45e3c678fd11569d5cccd80976237" @@ -232,8 +264,15 @@ git-tree-sha1 = "27415f162e6028e81c72b82ef756bf321213b6ec" uuid = "e2ba6199-217a-4e67-a87a-7c52f15ade04" version = "0.1.10" +[[deps.Expronicon]] +deps = ["MLStyle", "Pkg", "TOML"] +git-tree-sha1 = "fc3951d4d398b5515f91d7fe5d45fc31dccb3c9b" +uuid = "6b7a57c9-7cc1-4fdf-b7f5-e857abae3636" +version = "0.8.5" + [[deps.FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" +version = "1.11.0" [[deps.FillArrays]] deps = ["LinearAlgebra"] @@ -252,16 +291,6 @@ git-tree-sha1 = "9c68794ef81b08086aeb32eeaf33531668d5f5fc" uuid = "1fa38f19-a742-5d3f-a2b9-30dd87b9d5f8" version = "1.3.7" -[[deps.ForwardDiff]] -deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"] -git-tree-sha1 = "a9ce73d3c827adab2d70bf168aaece8cce196898" -uuid = "f6369f11-7733-5829-9624-2563aa707210" -version = "0.10.37" -weakdeps = ["StaticArrays"] - - [deps.ForwardDiff.extensions] - ForwardDiffStaticArraysExt = "StaticArrays" - [[deps.FunctionWrappers]] git-tree-sha1 = "d62485945ce5ae9c0c48f124a84998d755bae00e" uuid = "069b7b12-0de2-55c6-9aab-29f3d0a68a2e" @@ -276,24 +305,13 @@ version = "0.1.3" [[deps.Future]] deps = ["Random"] uuid = "9fa8497b-333b-5362-9e8d-4d0656e87820" +version = "1.11.0" [[deps.GPUArraysCore]] deps = ["Adapt"] -git-tree-sha1 = "2d6ca471a6c7b536127afccfa7564b5b39227fe0" +git-tree-sha1 = "83cf05ab16a73219e5f6bd1bdfa9848fa24ac627" uuid = "46192b85-c4d5-4398-a991-12ede77f4527" -version = "0.1.5" - -[[deps.Groebner]] -deps = ["AbstractAlgebra", "Combinatorics", "ExprTools", "Logging", "MultivariatePolynomials", "PrecompileTools", "PrettyTables", "Primes", "Printf", "Random", "SIMD", "TimerOutputs"] -git-tree-sha1 = "6b505ef15e55bdc5bb3ddbcfebdff1c9e67081e8" -uuid = "0b43b601-686d-58a3-8a1c-6623616c7cd4" -version = "0.5.1" - -[[deps.GroupsCore]] -deps = ["Markdown", "Random"] -git-tree-sha1 = "6df9cd6ee79fc59feab33f63a1b3c9e95e2461d5" -uuid = "d5909c97-4eac-4ecc-a3dc-fdd0858a4120" -version = "0.4.2" +version = "0.2.0" [[deps.HypergeometricFunctions]] deps = ["LinearAlgebra", "OpenLibm_jll", "SpecialFunctions"] @@ -314,6 +332,7 @@ version = "0.1.2" [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +version = "1.11.0" [[deps.IntervalSets]] git-tree-sha1 = "dba9ddf07f77f60450fe5d2e2beb9854d9a49bd0" @@ -326,6 +345,16 @@ weakdeps = ["Random", "RecipesBase", "Statistics"] IntervalSetsRecipesBaseExt = "RecipesBase" IntervalSetsStatisticsExt = "Statistics" +[[deps.InverseFunctions]] +git-tree-sha1 = "a779299d77cd080bf77b97535acecd73e1c5e5cb" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.17" +weakdeps = ["Dates", "Test"] + + [deps.InverseFunctions.extensions] + InverseFunctionsDatesExt = "Dates" + InverseFunctionsTestExt = "Test" + [[deps.IrrationalConstants]] git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2" uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" @@ -347,17 +376,6 @@ git-tree-sha1 = "dda21b8cbd6a6c40d9d02a73230f9d70fed6918c" uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f" version = "1.4.0" -[[deps.LabelledArrays]] -deps = ["ArrayInterface", "ChainRulesCore", "ForwardDiff", "LinearAlgebra", "MacroTools", "PreallocationTools", "RecursiveArrayTools", "StaticArrays"] -git-tree-sha1 = "d1f981fba6eb3ec393eede4821bca3f2b7592cd4" -uuid = "2ee39098-c373-598a-b85f-a56591580800" -version = "1.15.1" - -[[deps.LambertW]] -git-tree-sha1 = "c5ffc834de5d61d00d2b0e18c96267cffc21f648" -uuid = "984bce1d-4616-540c-a9ee-88d1112d94c9" -version = "0.4.6" - [[deps.Latexify]] deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"] git-tree-sha1 = "ce5f5621cac23a86011836badfedf664a612cee4" @@ -374,12 +392,6 @@ version = "0.16.5" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" SymEngine = "123dc426-2d89-5057-bbad-38513e3affd8" -[[deps.Lazy]] -deps = ["MacroTools"] -git-tree-sha1 = "1370f8202dac30758f3c345f9909b97f53d87d3f" -uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.15.1" - [[deps.LibCURL]] deps = ["LibCURL_jll", "MozillaCACerts_jll"] uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21" @@ -388,11 +400,17 @@ version = "0.6.4" [[deps.LibCURL_jll]] deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" +version = "8.6.0+0" [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -401,6 +419,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -417,6 +436,7 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +version = "1.11.0" [[deps.LogExpFunctions]] deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"] @@ -436,6 +456,7 @@ version = "0.3.28" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoopThrottle]] deps = ["Test"] @@ -443,6 +464,11 @@ git-tree-sha1 = "037fdda7c47bf8fc2f46b1096972afabd26fa636" uuid = "39f5be34-8529-5463-bac7-bf6867c840a3" version = "0.1.0" +[[deps.MLStyle]] +git-tree-sha1 = "bc38dff0548128765760c79eb7388a4b37fae2c8" +uuid = "d8e11817-5142-5d16-987a-aa16d5891078" +version = "0.4.17" + [[deps.MacroTools]] deps = ["Markdown", "Random"] git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df" @@ -452,11 +478,12 @@ version = "0.5.13" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.Missings]] deps = ["DataAPI"] @@ -466,7 +493,7 @@ version = "1.2.0" [[deps.MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" +version = "2023.12.12" [[deps.MultivariatePolynomials]] deps = ["ChainRulesCore", "DataStructures", "LinearAlgebra", "MutableArithmetics"] @@ -493,12 +520,12 @@ version = "1.2.0" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" +version = "0.3.27+1" [[deps.OpenLibm_jll]] deps = ["Artifacts", "Libdl"] uuid = "05823500-19ac-5b8b-9628-191a04bc5112" -version = "0.8.1+0" +version = "0.8.1+2" [[deps.OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] @@ -518,21 +545,15 @@ uuid = "90014a1f-27ba-587c-ab20-58faa44d9150" version = "0.11.31" [[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] +deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "1.11.0" -[[deps.PreallocationTools]] -deps = ["Adapt", "ArrayInterface", "ForwardDiff", "Requires"] -git-tree-sha1 = "01ac95fca7daabe77a9cb705862bd87016af9ddb" -uuid = "d236fae5-4411-538c-8e31-a6e3d9e00b46" -version = "0.4.13" + [deps.Pkg.extensions] + REPLExt = "REPL" - [deps.PreallocationTools.extensions] - PreallocationToolsReverseDiffExt = "ReverseDiff" - - [deps.PreallocationTools.weakdeps] - ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" + [deps.Pkg.weakdeps] + REPL = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" [[deps.PrecompileTools]] deps = ["Preferences"] @@ -546,12 +567,6 @@ git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6" uuid = "21216c6a-2e73-6563-6e65-726566657250" version = "1.4.3" -[[deps.PrettyTables]] -deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "Reexport", "StringManipulation", "Tables"] -git-tree-sha1 = "66b20dd35966a748321d3b2537c4584cf40387c7" -uuid = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d" -version = "2.3.2" - [[deps.Primes]] deps = ["IntegerMathUtils"] git-tree-sha1 = "cb420f77dc474d23ee47ca8d14c90810cafe69e7" @@ -561,6 +576,7 @@ version = "0.5.6" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.PtrArrays]] git-tree-sha1 = "77a42d78b6a92df47ab37e177b2deac405e1c88f" @@ -580,24 +596,21 @@ version = "2.11.1" Enzyme = "7da242da-08ed-463a-9acd-ee780be4f1d9" [[deps.Quaternions]] -deps = ["DualNumbers", "LinearAlgebra", "Random"] -git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a" +deps = ["LinearAlgebra", "Random", "RealDot"] +git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" -version = "0.4.9" - -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +version = "0.7.6" [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" -[[deps.RandomExtensions]] -deps = ["Random", "SparseArrays"] -git-tree-sha1 = "b8a399e95663485820000f26b6a43c794e166a49" -uuid = "fb686558-2515-59ef-acaa-46db3789a887" -version = "0.4.4" +[[deps.RealDot]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9" +uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9" +version = "0.1.0" [[deps.RecipesBase]] deps = ["PrecompileTools"] @@ -606,22 +619,28 @@ uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" version = "1.3.4" [[deps.RecursiveArrayTools]] -deps = ["Adapt", "ArrayInterface", "DocStringExtensions", "GPUArraysCore", "IteratorInterfaceExtensions", "LinearAlgebra", "RecipesBase", "Requires", "SparseArrays", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables"] -git-tree-sha1 = "27ee1c03e732c488ecce1a25f0d7da9b5d936574" +deps = ["Adapt", "ArrayInterface", "DocStringExtensions", "GPUArraysCore", "IteratorInterfaceExtensions", "LinearAlgebra", "RecipesBase", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables"] +git-tree-sha1 = "6f4dca5fd8e97087a76b7ab8384d1c3086ace0b7" uuid = "731186ca-8d62-57ce-b412-fbd966d074cd" -version = "3.3.3" +version = "3.27.3" [deps.RecursiveArrayTools.extensions] RecursiveArrayToolsFastBroadcastExt = "FastBroadcast" + RecursiveArrayToolsForwardDiffExt = "ForwardDiff" RecursiveArrayToolsMeasurementsExt = "Measurements" RecursiveArrayToolsMonteCarloMeasurementsExt = "MonteCarloMeasurements" + RecursiveArrayToolsReverseDiffExt = ["ReverseDiff", "Zygote"] + RecursiveArrayToolsSparseArraysExt = ["SparseArrays"] RecursiveArrayToolsTrackerExt = "Tracker" RecursiveArrayToolsZygoteExt = "Zygote" [deps.RecursiveArrayTools.weakdeps] FastBroadcast = "7034ab61-46d4-4ed7-9d0f-46aef9175898" + ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" Measurements = "eff96d63-e80a-5855-80a2-b1b0885c5ab7" MonteCarloMeasurements = "0987c9cc-fe09-11e8-30f0-b96dd679fdca" + ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" + SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c" Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f" @@ -638,9 +657,9 @@ version = "1.3.0" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.4.0" +version = "2.5.0" [[deps.Rmath]] deps = ["Random", "Rmath_jll"] @@ -655,35 +674,34 @@ uuid = "f50d1b31-88e8-58de-be2c-1cc44531875f" version = "0.5.1+0" [[deps.Rotations]] -deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] -git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] +git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.2.0" +version = "1.7.1" +weakdeps = ["RecipesBase"] + + [deps.Rotations.extensions] + RotationsRecipesBaseExt = "RecipesBase" [[deps.RuntimeGeneratedFunctions]] deps = ["ExprTools", "SHA", "Serialization"] -git-tree-sha1 = "6aacc5eefe8415f47b3e34214c1d79d2674a0ba2" +git-tree-sha1 = "04c968137612c4a5629fa531334bb81ad5680f00" uuid = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47" -version = "0.5.12" +version = "0.5.13" [[deps.SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" version = "0.7.0" -[[deps.SIMD]] -deps = ["PrecompileTools"] -git-tree-sha1 = "98ca7c29edd6fc79cd74c61accb7010a4e7aee33" -uuid = "fdea26ae-647d-5447-a871-4b548cad5224" -version = "3.6.0" - [[deps.SciMLBase]] -deps = ["ADTypes", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FillArrays", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables", "TruncatedStacktraces"] -git-tree-sha1 = "09324a0ae70c52a45b91b236c62065f78b099c37" +deps = ["ADTypes", "Accessors", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "Expronicon", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"] +git-tree-sha1 = "ad0d4e32b7adf6871f60c3379d76fdc231b434c8" uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462" -version = "2.15.2" +version = "2.59.1" [deps.SciMLBase.extensions] SciMLBaseChainRulesCoreExt = "ChainRulesCore" + SciMLBaseMakieExt = "Makie" SciMLBasePartialFunctionsExt = "PartialFunctions" SciMLBasePyCallExt = "PyCall" SciMLBasePythonCallExt = "PythonCall" @@ -693,6 +711,7 @@ version = "2.15.2" [deps.SciMLBase.weakdeps] ChainRules = "082447d4-558c-5d27-93f4-14fc19e9eca2" ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" + Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a" PartialFunctions = "570af359-4316-4cb7-8c74-252c00c2016b" PyCall = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0" PythonCall = "6099a3de-0909-46bc-b1f4-468b9a2dfc0d" @@ -700,13 +719,25 @@ version = "2.15.2" Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f" [[deps.SciMLOperators]] -deps = ["ArrayInterface", "DocStringExtensions", "Lazy", "LinearAlgebra", "Setfield", "SparseArrays", "StaticArraysCore", "Tricks"] -git-tree-sha1 = "51ae235ff058a64815e0a2c34b1db7578a06813d" +deps = ["Accessors", "ArrayInterface", "DocStringExtensions", "LinearAlgebra", "MacroTools"] +git-tree-sha1 = "6149620767866d4b0f0f7028639b6e661b6a1e44" uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961" -version = "0.3.7" +version = "0.3.12" +weakdeps = ["SparseArrays", "StaticArraysCore"] + + [deps.SciMLOperators.extensions] + SciMLOperatorsSparseArraysExt = "SparseArrays" + SciMLOperatorsStaticArraysCoreExt = "StaticArraysCore" + +[[deps.SciMLStructures]] +deps = ["ArrayInterface"] +git-tree-sha1 = "25514a6f200219cd1073e4ff23a6324e4a7efe64" +uuid = "53ae85a6-f571-4167-b2af-e1d143709226" +version = "1.5.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" +version = "1.11.0" [[deps.Setfield]] deps = ["ConstructionBase", "Future", "MacroTools", "StaticArraysCore"] @@ -716,6 +747,7 @@ version = "1.1.1" [[deps.Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SortingAlgorithms]] deps = ["DataStructures"] @@ -726,6 +758,7 @@ version = "1.2.1" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +version = "1.11.0" [[deps.SpecialFunctions]] deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] @@ -754,9 +787,14 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" [[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] +deps = ["LinearAlgebra"] +git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0" uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" +version = "1.11.1" +weakdeps = ["SparseArrays"] + + [deps.Statistics.extensions] + SparseArraysExt = ["SparseArrays"] [[deps.StatsAPI]] deps = ["LinearAlgebra"] @@ -775,51 +813,67 @@ deps = ["HypergeometricFunctions", "IrrationalConstants", "LogExpFunctions", "Re git-tree-sha1 = "b423576adc27097764a90e163157bcfc9acf0f46" uuid = "4c63d2b9-4356-54db-8cca-17b64c39e42c" version = "1.3.2" +weakdeps = ["ChainRulesCore", "InverseFunctions"] [deps.StatsFuns.extensions] StatsFunsChainRulesCoreExt = "ChainRulesCore" StatsFunsInverseFunctionsExt = "InverseFunctions" - [deps.StatsFuns.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" - InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112" - -[[deps.StringManipulation]] -deps = ["PrecompileTools"] -git-tree-sha1 = "a04cabe79c5f01f4d723cc6704070ada0b9d46d5" -uuid = "892a3eda-7b42-436c-8928-eab12a02cf0e" -version = "0.3.4" - [[deps.SuiteSparse]] deps = ["Libdl", "LinearAlgebra", "Serialization", "SparseArrays"] uuid = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9" [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.SymbolicIndexingInterface]] -git-tree-sha1 = "be414bfd80c2c91197823890c66ef4b74f5bf5fe" +deps = ["Accessors", "ArrayInterface", "RuntimeGeneratedFunctions", "StaticArraysCore"] +git-tree-sha1 = "20cf607cafb31f922bce84d60379203e7a126911" uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5" -version = "0.3.1" +version = "0.3.34" + +[[deps.SymbolicLimits]] +deps = ["SymbolicUtils"] +git-tree-sha1 = "fabf4650afe966a2ba646cabd924c3fd43577fc3" +uuid = "19f23fe9-fdab-4a78-91af-e7b7767979c3" +version = "0.2.2" [[deps.SymbolicUtils]] -deps = ["AbstractTrees", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "IfElse", "LabelledArrays", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "TimerOutputs", "Unityper"] -git-tree-sha1 = "c84ea9bcc9d527ba86ce08191cf561f35b48f9a0" +deps = ["AbstractTrees", "ArrayInterface", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "IfElse", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "TermInterface", "TimerOutputs", "Unityper"] +git-tree-sha1 = "04e9157537ba51dad58336976f8d04b9ab7122f0" uuid = "d1185830-fcd6-423d-90d6-eec64667417b" -version = "1.7.1" +version = "3.7.2" + + [deps.SymbolicUtils.extensions] + SymbolicUtilsLabelledArraysExt = "LabelledArrays" + SymbolicUtilsReverseDiffExt = "ReverseDiff" + + [deps.SymbolicUtils.weakdeps] + LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800" + ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" [[deps.Symbolics]] -deps = ["ArrayInterface", "Bijections", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "Groebner", "IfElse", "LaTeXStrings", "LambertW", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "PrecompileTools", "RecipesBase", "Reexport", "Requires", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "SymbolicUtils"] -git-tree-sha1 = "8d28ebc206dec9e250e21b9502a2662265897650" +deps = ["ADTypes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "IfElse", "LaTeXStrings", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "PrecompileTools", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"] +git-tree-sha1 = "0caef7687abf7094132fa3112bf5514c36a99226" uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7" -version = "5.14.1" +version = "6.18.3" [deps.Symbolics.extensions] + SymbolicsForwardDiffExt = "ForwardDiff" + SymbolicsGroebnerExt = "Groebner" + SymbolicsLuxExt = "Lux" + SymbolicsNemoExt = "Nemo" + SymbolicsPreallocationToolsExt = ["PreallocationTools", "ForwardDiff"] SymbolicsSymPyExt = "SymPy" [deps.Symbolics.weakdeps] + ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" + Groebner = "0b43b601-686d-58a3-8a1c-6623616c7cd4" + Lux = "b2108857-7c20-44ae-9111-449ecde12c47" + Nemo = "2edaba10-b0f1-5616-af89-8c11ac63239a" + PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46" SymPy = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6" [[deps.TOML]] @@ -844,9 +898,15 @@ deps = ["ArgTools", "SHA"] uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e" version = "1.10.0" +[[deps.TermInterface]] +git-tree-sha1 = "d673e0aca9e46a2f63720201f55cc7b3e7169b16" +uuid = "8ea1fca8-c5ef-4a55-8b96-4e9afe9c9a3c" +version = "2.0.0" + [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TimerOutputs]] deps = ["ExprTools", "Printf"] @@ -854,17 +914,6 @@ git-tree-sha1 = "3a6f063d690135f5c1ba351412c82bae4d1402bf" uuid = "a759f4b9-e2f1-59dc-863e-4aeb61b1ea8f" version = "0.5.25" -[[deps.Tricks]] -git-tree-sha1 = "7822b97e99a1672bfb1b49b668a6d46d58d8cbcb" -uuid = "410a4b4d-49e4-4fbc-ab6d-cb71b17b3775" -version = "0.1.9" - -[[deps.TruncatedStacktraces]] -deps = ["InteractiveUtils", "MacroTools", "Preferences"] -git-tree-sha1 = "ea3e54c2bdde39062abf5a9758a23735558705e1" -uuid = "781d530d-4396-4725-bb49-402e4bee1e77" -version = "1.4.0" - [[deps.TypeSortedCollections]] git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" @@ -873,9 +922,11 @@ version = "1.1.0" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.Unityper]] deps = ["ConstructionBase"] @@ -897,19 +948,19 @@ version = "2.13.4+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" +version = "5.11.0+0" [[deps.nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" +version = "1.59.0+0" [[deps.p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "17.4.0+2" diff --git a/examples/7. Rigorous error bounds using IntervalArithmetic/7. Rigorous error bounds using IntervalArithmetic.jl b/examples/7. Rigorous error bounds using IntervalArithmetic/7. Rigorous error bounds using IntervalArithmetic.jl index ae202bdc..397746d8 100644 --- a/examples/7. Rigorous error bounds using IntervalArithmetic/7. Rigorous error bounds using IntervalArithmetic.jl +++ b/examples/7. Rigorous error bounds using IntervalArithmetic/7. Rigorous error bounds using IntervalArithmetic.jl @@ -19,9 +19,9 @@ Pkg.instantiate() # hide using IntervalArithmetic -# IntervalArithmetic.jl provides the `Interval` type, which stores an upper and a lower bound: +# IntervalArithmetic.jl provides the `interval` type, which stores an upper and a lower bound: -i = Interval(1.0, 2.0) +i = interval(1.0, 2.0) #- @@ -37,10 +37,10 @@ i + i sin(i) -# Note that the bounds computed by IntervalArithmetic.jl take floating point error into account. Also note that a given real number, once converted to (approximated by) a floating-point number may not be equal to the original real number. To rigorously construct an `Interval` that contains a given real number as an input, IntervalArithmetic.jl provides the `@interval` macro: +# Note that the bounds computed by IntervalArithmetic.jl take floating point error into account. Also note that a given real number, once converted to (approximated by) a floating-point number may not be equal to the original real number. To rigorously construct an `interval` that contains a given real number as an input, IntervalArithmetic.jl provides the `@interval` macro: i = @interval(2.9) -i.lo === i.hi +i.bareinterval.lo === i.bareinterval.hi #- @@ -49,8 +49,8 @@ dump(i) # Compare this to -i = Interval(2.9) -i.lo === i.hi +i = interval(2.9) +i.bareinterval.lo === i.bareinterval.hi #- @@ -65,7 +65,7 @@ i = @interval(2.6) - @interval(0.7) - @interval(1.9) # showing that the true result, `0`, is indeed in the guaranteed interval, and indeed: using Test -@test (2.6 - 0.7 - 1.9) ∈ i +@test in_interval(2.6 - 0.7 - 1.9, i) # ## Accuracy of RigidBodyDynamics.jl's `mass_matrix` @@ -75,7 +75,7 @@ using Test using RigidBodyDynamics -# We'll create a `Mechanism` by parsing the Acrobot URDF, passing in `Interval{Float64}` as the type used to store the parameters (inertias, link lengths, etc.) of the mechanism. Note that the parameters parsed from the URDF are treated as floating point numbers (i.e., like `Interval(2.9)` instead of `@interval(2.9)` above). +# We'll create a `Mechanism` by parsing the Acrobot URDF, passing in `Interval{Float64}` as the type used to store the parameters (inertias, link lengths, etc.) of the mechanism. Note that the parameters parsed from the URDF are treated as floating point numbers (i.e., like `interval(2.9)` instead of `@interval(2.9)` above). const T = Interval{Float64} srcdir = dirname(pathof(RigidBodyDynamics)) @@ -98,7 +98,7 @@ M = mass_matrix(state) # Woah, those bounds look pretty big. RigidBodyDynamics.jl must not be very accurate! Actually, things aren't so bad; the issue is just that IntervalArithmetic.jl isn't kidding when it comes to guaranteed bounds, and that includes printing the numbers in shortened form. Here are the lengths of the intervals: -err = map(x -> x.hi - x.lo, M) +err = map(x -> x.bareinterval.hi - x.bareinterval.lo, M) #- diff --git a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml index 12609af7..e5aa95f7 100644 --- a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml +++ b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml @@ -1,18 +1,20 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" project_hash = "3899da068c88cead675439c424121794dbc2c0d1" [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" +version = "1.1.2" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.CRlibm_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -20,20 +22,15 @@ git-tree-sha1 = "e329286945d0cfc04456972ea732551869af1cfc" uuid = "4e9b3aee-d8a1-5a3d-ad8b-7d824db253f0" version = "1.0.1+0" -[[deps.Calculus]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430" -uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" -version = "0.5.2" - [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.DocStringExtensions]] deps = ["LibGit2"] @@ -46,18 +43,14 @@ deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" version = "1.6.0" -[[deps.DualNumbers]] -deps = ["Calculus", "NaNMath", "SpecialFunctions"] -git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566" -uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" -version = "0.6.8" - [[deps.FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" +version = "1.11.0" [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +version = "1.11.0" [[deps.IntervalArithmetic]] deps = ["CRlibm_jll", "LinearAlgebra", "MacroTools", "RoundingEmulator"] @@ -77,11 +70,6 @@ version = "0.22.19" IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953" RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -[[deps.IrrationalConstants]] -git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2" -uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" -version = "0.2.2" - [[deps.JLLWrappers]] deps = ["Artifacts", "Preferences"] git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b" @@ -96,11 +84,17 @@ version = "0.6.4" [[deps.LibCURL_jll]] deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" +version = "8.6.0+0" [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -109,6 +103,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -125,25 +120,11 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" - -[[deps.LogExpFunctions]] -deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"] -git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea" -uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" -version = "0.3.28" - - [deps.LogExpFunctions.extensions] - LogExpFunctionsChainRulesCoreExt = "ChainRulesCore" - LogExpFunctionsChangesOfVariablesExt = "ChangesOfVariables" - LogExpFunctionsInverseFunctionsExt = "InverseFunctions" - - [deps.LogExpFunctions.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" - ChangesOfVariables = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" - InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "1.11.0" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoopThrottle]] deps = ["Test"] @@ -160,21 +141,16 @@ version = "0.5.13" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" - -[[deps.NaNMath]] -deps = ["OpenLibm_jll"] -git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4" -uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" -version = "1.0.2" +version = "2023.12.12" [[deps.NetworkOptions]] uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" @@ -183,23 +159,18 @@ version = "1.2.0" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" - -[[deps.OpenLibm_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "05823500-19ac-5b8b-9628-191a04bc5112" -version = "0.8.1+0" - -[[deps.OpenSpecFun_jll]] -deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1" -uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" -version = "0.5.5+0" +version = "0.3.27+1" [[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] +deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" +version = "1.11.0" + + [deps.Pkg.extensions] + REPLExt = "REPL" + + [deps.Pkg.weakdeps] + REPL = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" [[deps.PrecompileTools]] deps = ["Preferences"] @@ -216,20 +187,24 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Quaternions]] -deps = ["DualNumbers", "LinearAlgebra", "Random"] -git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a" +deps = ["LinearAlgebra", "Random", "RealDot"] +git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" -version = "0.4.9" - -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +version = "0.7.6" [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" + +[[deps.RealDot]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9" +uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9" +version = "0.1.0" [[deps.Reexport]] git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" @@ -238,15 +213,21 @@ version = "1.2.2" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.4.0" +version = "2.5.0" [[deps.Rotations]] -deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] -git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] +git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.2.0" +version = "1.7.1" + + [deps.Rotations.extensions] + RotationsRecipesBaseExt = "RecipesBase" + + [deps.Rotations.weakdeps] + RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" [[deps.RoundingEmulator]] git-tree-sha1 = "40b9edad2e5287e05bd413a38f61a8ff55b9557b" @@ -259,25 +240,12 @@ version = "0.7.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" - -[[deps.Sockets]] -uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" - -[[deps.SpecialFunctions]] -deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] -git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14" -uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "2.4.0" - - [deps.SpecialFunctions.extensions] - SpecialFunctionsChainRulesCoreExt = "ChainRulesCore" - - [deps.SpecialFunctions.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.0" [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] @@ -298,15 +266,10 @@ git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682" uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" -[[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] -uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" - [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] @@ -321,6 +284,7 @@ version = "1.10.0" [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TypeSortedCollections]] git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" @@ -330,9 +294,11 @@ version = "1.1.0" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnsafeArrays]] git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac" @@ -348,19 +314,19 @@ version = "2.13.4+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" +version = "5.11.0+0" [[deps.nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" +version = "1.59.0+0" [[deps.p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "17.4.0+2" diff --git a/perf/Manifest.toml b/perf/Manifest.toml index 001e9cd8..3138a432 100644 --- a/perf/Manifest.toml +++ b/perf/Manifest.toml @@ -1,18 +1,16 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.9.4" +julia_version = "1.11.1" manifest_format = "2.0" project_hash = "65dd92ee98603779b07a7023ff0989262d569492" -[[deps.ArgTools]] -uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" -version = "1.1.1" - [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" +version = "1.11.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +version = "1.11.0" [[deps.BenchmarkTools]] deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"] @@ -20,20 +18,15 @@ git-tree-sha1 = "f1dff6729bc61f4d49e140da1af55dcd1ac97b2f" uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf" version = "1.5.0" -[[deps.Calculus]] -deps = ["LinearAlgebra"] -git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430" -uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" -version = "0.5.2" - [[deps.CompilerSupportLibraries_jll]] deps = ["Artifacts", "Libdl"] uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" -version = "1.0.5+0" +version = "1.1.1+0" [[deps.Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +version = "1.11.0" [[deps.DocStringExtensions]] deps = ["LibGit2"] @@ -41,28 +34,10 @@ git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" version = "0.9.3" -[[deps.Downloads]] -deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] -uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" -version = "1.6.0" - -[[deps.DualNumbers]] -deps = ["Calculus", "NaNMath", "SpecialFunctions"] -git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566" -uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" -version = "0.6.8" - -[[deps.FileWatching]] -uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" - [[deps.InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" - -[[deps.IrrationalConstants]] -git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2" -uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" -version = "0.2.2" +version = "1.11.0" [[deps.JLLWrappers]] deps = ["Artifacts", "Preferences"] @@ -76,19 +51,15 @@ git-tree-sha1 = "31e996f0a15c7b280ba9f76636b3ff9e2ae58c9a" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" version = "0.21.4" -[[deps.LibCURL]] -deps = ["LibCURL_jll", "MozillaCACerts_jll"] -uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21" -version = "0.6.4" - -[[deps.LibCURL_jll]] -deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"] -uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" -version = "8.4.0+0" - [[deps.LibGit2]] -deps = ["Base64", "NetworkOptions", "Printf", "SHA"] +deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +version = "1.11.0" + +[[deps.LibGit2_jll]] +deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"] +uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5" +version = "1.7.2+0" [[deps.LibSSH2_jll]] deps = ["Artifacts", "Libdl", "MbedTLS_jll"] @@ -97,6 +68,7 @@ version = "1.11.0+1" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +version = "1.11.0" [[deps.Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -113,25 +85,11 @@ version = "0.9.1" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" - -[[deps.LogExpFunctions]] -deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"] -git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea" -uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" -version = "0.3.28" - - [deps.LogExpFunctions.extensions] - LogExpFunctionsChainRulesCoreExt = "ChainRulesCore" - LogExpFunctionsChangesOfVariablesExt = "ChangesOfVariables" - LogExpFunctionsInverseFunctionsExt = "InverseFunctions" - - [deps.LogExpFunctions.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" - ChangesOfVariables = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" - InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "1.11.0" [[deps.Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" +version = "1.11.0" [[deps.LoopThrottle]] deps = ["Test"] @@ -142,24 +100,16 @@ version = "0.1.0" [[deps.Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +version = "1.11.0" [[deps.MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" -version = "2.28.2+0" +version = "2.28.6+0" [[deps.Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" - -[[deps.MozillaCACerts_jll]] -uuid = "14a3606d-f60d-562e-9121-12d972cd8159" -version = "2022.10.11" - -[[deps.NaNMath]] -deps = ["OpenLibm_jll"] -git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4" -uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" -version = "1.0.2" +version = "1.11.0" [[deps.NetworkOptions]] uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" @@ -168,18 +118,7 @@ version = "1.2.0" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] uuid = "4536629a-c528-5b80-bd46-f80d51c5b363" -version = "0.3.21+4" - -[[deps.OpenLibm_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "05823500-19ac-5b8b-9628-191a04bc5112" -version = "0.8.1+0" - -[[deps.OpenSpecFun_jll]] -deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1" -uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" -version = "0.5.5+0" +version = "0.3.27+1" [[deps.Parsers]] deps = ["Dates", "PrecompileTools", "UUIDs"] @@ -187,11 +126,6 @@ git-tree-sha1 = "8489905bcdbcfac64d1daa51ca07c0d8f0283821" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" version = "2.8.1" -[[deps.Pkg]] -deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] -uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" -version = "1.9.2" - [[deps.PrecompileTools]] deps = ["Preferences"] git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f" @@ -207,24 +141,28 @@ version = "1.4.3" [[deps.Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +version = "1.11.0" [[deps.Profile]] -deps = ["Printf"] uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79" +version = "1.11.0" [[deps.Quaternions]] -deps = ["DualNumbers", "LinearAlgebra", "Random"] -git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a" +deps = ["LinearAlgebra", "Random", "RealDot"] +git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9" uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" -version = "0.4.9" - -[[deps.REPL]] -deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] -uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +version = "0.7.6" [[deps.Random]] -deps = ["SHA", "Serialization"] +deps = ["SHA"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +version = "1.11.0" + +[[deps.RealDot]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9" +uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9" +version = "0.1.0" [[deps.Reexport]] git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" @@ -233,15 +171,21 @@ version = "1.2.2" [[deps.RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589" +git-tree-sha1 = "212ee0a4c2ca1b734dfd439d14c8a77fa4d14a39" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.4.0" +version = "2.5.0" [[deps.Rotations]] -deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] -git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"] +git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.2.0" +version = "1.7.1" + + [deps.Rotations.extensions] + RotationsRecipesBaseExt = "RecipesBase" + + [deps.Rotations.weakdeps] + RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" [[deps.SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -249,25 +193,12 @@ version = "0.7.0" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" - -[[deps.Sockets]] -uuid = "6462fe0b-24de-5631-8697-dd941f90decc" +version = "1.11.0" [[deps.SparseArrays]] deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" - -[[deps.SpecialFunctions]] -deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] -git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14" -uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "2.4.0" - - [deps.SpecialFunctions.extensions] - SpecialFunctionsChainRulesCoreExt = "ChainRulesCore" - - [deps.SpecialFunctions.weakdeps] - ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.0" [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] @@ -289,28 +220,29 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" version = "1.4.3" [[deps.Statistics]] -deps = ["LinearAlgebra", "SparseArrays"] +deps = ["LinearAlgebra"] +git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0" uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" -version = "1.9.0" +version = "1.11.1" +weakdeps = ["SparseArrays"] + + [deps.Statistics.extensions] + SparseArraysExt = ["SparseArrays"] [[deps.SuiteSparse_jll]] -deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"] +deps = ["Artifacts", "Libdl", "libblastrampoline_jll"] uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c" -version = "5.10.1+6" +version = "7.7.0+0" [[deps.TOML]] deps = ["Dates"] uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" version = "1.0.3" -[[deps.Tar]] -deps = ["ArgTools", "SHA"] -uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e" -version = "1.10.0" - [[deps.Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" +version = "1.11.0" [[deps.TypeSortedCollections]] git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" @@ -320,9 +252,11 @@ version = "1.1.0" [[deps.UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +version = "1.11.0" [[deps.Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +version = "1.11.0" [[deps.UnsafeArrays]] git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac" @@ -338,19 +272,9 @@ version = "2.13.4+0" [[deps.Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" -version = "1.2.13+0" +version = "1.2.13+1" [[deps.libblastrampoline_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850b90-86db-534c-a0d3-1478176c7d93" -version = "5.8.0+0" - -[[deps.nghttp2_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" -version = "1.52.0+1" - -[[deps.p7zip_jll]] -deps = ["Artifacts", "Libdl"] -uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" -version = "17.4.0+0" +version = "5.11.0+0" diff --git a/test/runtests.jl b/test/runtests.jl index 2bfa5fc1..6fa2e26b 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -30,7 +30,7 @@ include("test_simulate.jl") include("test_mechanism_modification.jl") include("test_pd_control.jl") -if v"1.9" <= VERSION < v"1.10" +if v"1.11" <= VERSION < v"1.12" # Test notebooks on Julia v1.11 # The notebook tests rely on instantiating specific project manifests. # Attempting to do so on a version of Julia older than the one used to # create those manifests can cause errors in `Pkg.instantiate()`. From d87e016c60a4018a1b86f8e94b75462d6dc4f97d Mon Sep 17 00:00:00 2001 From: Henrique Ferrolho Date: Sat, 9 Nov 2024 17:55:38 +0000 Subject: [PATCH 2/4] Add `repo` arg to `makedocs` --- docs/make.jl | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/make.jl b/docs/make.jl index 62b00aa0..1ce4d3d5 100644 --- a/docs/make.jl +++ b/docs/make.jl @@ -89,6 +89,7 @@ makedocs( "Benchmarks" => "benchmarks.md", ], warnonly = Documenter.except(), + repo = Remotes.GitHub("JuliaRobotics", "RigidBodyDynamics.jl"), ) deploydocs( From 51553440b971706ed57986f9f122ac30702843a1 Mon Sep 17 00:00:00 2001 From: Henrique Ferrolho Date: Sun, 10 Nov 2024 12:20:50 +0000 Subject: [PATCH 3/4] Fix example '6. Symbolics' --- docs/make.jl | 1 - examples/6. Symbolics/6. Symbolics.jl | 49 ++++++++++++++++----------- examples/6. Symbolics/Manifest.toml | 6 ++-- examples/6. Symbolics/Project.toml | 1 + test/test_notebooks.jl | 1 - 5 files changed, 34 insertions(+), 24 deletions(-) diff --git a/docs/make.jl b/docs/make.jl index 1ce4d3d5..b3aa4616 100644 --- a/docs/make.jl +++ b/docs/make.jl @@ -12,7 +12,6 @@ let excludedirs = String[] excludefiles = String[] if VERSION >= v"1.6" - push!(excludefiles, "6. Symbolics.jl") push!(excludefiles, "7. Rigorous error bounds using IntervalArithmetic.jl") end for subdir in readdir(exampledir) diff --git a/examples/6. Symbolics/6. Symbolics.jl b/examples/6. Symbolics/6. Symbolics.jl index a304190a..0bd118fe 100644 --- a/examples/6. Symbolics/6. Symbolics.jl +++ b/examples/6. Symbolics/6. Symbolics.jl @@ -6,10 +6,18 @@ # ## Setup +using Quaternions using RigidBodyDynamics using StaticArrays using Symbolics +#- + +## Type piracy needed in order to make Symbolics.jl types interact well with Quaternions.jl. +## This should be avoided — see https://docs.julialang.org/en/v1/manual/style-guide/#avoid-type-piracy. +function Base.:/(q::Quaternions.Quaternion, x::Symbolics.Num) + return Quaternions.Quaternion(q.s / x.val, q.v1 / x.val, q.v2 / x.val, q.v3 / x.val) +end # ## Create symbolic parameters # * Masses: $m_1, m_2$ @@ -18,9 +26,9 @@ using Symbolics # * Center of mass locations (w.r.t. preceding joint axis): $c_1, c_2$ # * Gravitational acceleration: $g$ -inertias = @variables m_1 m_2 I_1 I_2 positive = true -lengths = @variables l_1 l_2 c_1 c_2 real = true -gravitational_acceleration = @variables g real = true +inertias = @variables m₁ m₂ I₁ I₂ +lengths = @variables l₁ l₂ c₁ c₂ +gravitational_acceleration = @variables g params = [inertias..., lengths..., gravitational_acceleration...] transpose(params) @@ -35,9 +43,9 @@ world = root_body(double_pendulum) # the fixed 'world' rigid body # Attach the first (upper) link to the world via a revolute joint named 'shoulder' inertia1 = SpatialInertia(CartesianFrame3D("upper_link"), - moment=I_1 * axis * transpose(axis), - com=SVector(zero(T), zero(T), c_1), - mass=m_1) + moment=I₁ * axis * transpose(axis), + com=SVector(zero(T), zero(T), c₁), + mass=m₁) body1 = RigidBody(inertia1) joint1 = Joint("shoulder", Revolute(axis)) joint1_to_world = one(Transform3D{T}, frame_before(joint1), default_frame(world)); @@ -46,13 +54,13 @@ attach!(double_pendulum, world, body1, joint1, # Attach the second (lower) link to the world via a revolute joint named 'elbow' inertia2 = SpatialInertia(CartesianFrame3D("lower_link"), - moment=I_2 * axis * transpose(axis), - com=SVector(zero(T), zero(T), c_2), - mass=m_2) + moment=I₂ * axis * transpose(axis), + com=SVector(zero(T), zero(T), c₂), + mass=m₂) body2 = RigidBody(inertia2) joint2 = Joint("elbow", Revolute(axis)) joint2_to_body1 = Transform3D( - frame_before(joint2), default_frame(body1), SVector(zero(T), zero(T), l_1)) + frame_before(joint2), default_frame(body1), SVector(zero(T), zero(T), l₁)) attach!(double_pendulum, body1, body2, joint2, joint_pose=joint2_to_body1) @@ -64,26 +72,29 @@ x = MechanismState(double_pendulum); # Set the joint configuration vector of the MechanismState to a new vector of symbolic variables q = configuration(x) -for i in eachindex(q) - q[i] = symbols("q_$i", real=true) -end +q .= Symbolics.variables(:q, 1:length(q)) # Set the joint velocity vector of the MechanismState to a new vector of symbolic variables v = velocity(x) -for i in eachindex(v) - v[i] = symbols("v_$i", real=true) -end +v .= Symbolics.variables(:v, 1:length(q)) # ## Compute dynamical quantities in symbolic form # Mass matrix -simplify.(mass_matrix(x)) +simplify.(mass_matrix(x), expand=true) # Kinetic energy -simplify(kinetic_energy(x)) +simplify(kinetic_energy(x), expand=true) # Potential energy -simplify(gravitational_potential_energy(x)) +try + ## This throws `ERROR: TypeError: non-boolean (Num) used in boolean context` because + ## of `m > 0 || return zero(cache_eltype(state))` in `gravitational_potential_energy`. + ## See https://docs.sciml.ai/Symbolics/stable/manual/faq/ for more details. + simplify(gravitational_potential_energy(x), expand=true) +catch e + e +end diff --git a/examples/6. Symbolics/Manifest.toml b/examples/6. Symbolics/Manifest.toml index df93b2da..dbe0a119 100644 --- a/examples/6. Symbolics/Manifest.toml +++ b/examples/6. Symbolics/Manifest.toml @@ -2,7 +2,7 @@ julia_version = "1.11.1" manifest_format = "2.0" -project_hash = "b85fe0e9ec615134f7a540386dbd29224a001a21" +project_hash = "6febb82eae077e3d6638435f06ae59a167361e51" [[deps.ADTypes]] git-tree-sha1 = "eea5d80188827b35333801ef97a40c2ed653b081" @@ -695,9 +695,9 @@ version = "0.7.0" [[deps.SciMLBase]] deps = ["ADTypes", "Accessors", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "Expronicon", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"] -git-tree-sha1 = "ad0d4e32b7adf6871f60c3379d76fdc231b434c8" +git-tree-sha1 = "7527b9adb22904f0f51d8ab85d826f81ebb6f78d" uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462" -version = "2.59.1" +version = "2.59.2" [deps.SciMLBase.extensions] SciMLBaseChainRulesCoreExt = "ChainRulesCore" diff --git a/examples/6. Symbolics/Project.toml b/examples/6. Symbolics/Project.toml index 1592e357..225afa89 100644 --- a/examples/6. Symbolics/Project.toml +++ b/examples/6. Symbolics/Project.toml @@ -1,4 +1,5 @@ [deps] +Quaternions = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7" diff --git a/test/test_notebooks.jl b/test/test_notebooks.jl index 3fcd3459..f7706e9a 100644 --- a/test/test_notebooks.jl +++ b/test/test_notebooks.jl @@ -3,7 +3,6 @@ let notebookdir = joinpath(@__DIR__, "..", "examples") excludedirs = [".ipynb_checkpoints"] excludefiles = String[] - push!(excludefiles, "6. Symbolics.ipynb") # Disabled until https://github.com/JuliaGeometry/Quaternions.jl/issues/123 is solved. push!(excludefiles, "7. Rigorous error bounds using IntervalArithmetic.ipynb") # Manifest used for 1.1 doesn't work for 1.0. for (root, dir, files) in walkdir(notebookdir) basename(root) in excludedirs && continue From 16489bcb53c5ed736a1aec135c16681a57bcf7c0 Mon Sep 17 00:00:00 2001 From: Henrique Ferrolho Date: Wed, 4 Dec 2024 08:29:02 +0000 Subject: [PATCH 4/4] Update version of GitHub actions in CI.yml --- .github/workflows/CI.yml | 14 ++------------ 1 file changed, 2 insertions(+), 12 deletions(-) diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml index ad0ea74d..59f9eb09 100644 --- a/.github/workflows/CI.yml +++ b/.github/workflows/CI.yml @@ -40,18 +40,8 @@ jobs: with: version: ${{ matrix.version }} arch: ${{ matrix.arch }} - - uses: actions/cache@v3 - env: - cache-name: cache-artifacts - CI: true - with: - path: ~/.julia/artifacts - key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }} - restore-keys: | - ${{ runner.os }}-test-${{ env.cache-name }}- - ${{ runner.os }}-test- - ${{ runner.os }}- - - uses: julia-actions/julia-buildpkg@latest + - uses: julia-actions/cache@v2 + - uses: julia-actions/julia-buildpkg@v1 - uses: julia-actions/julia-runtest@v1 with: prefix: ${{ matrix.prefix }}