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Update compat dependencies and add Julia LTS (1.10) to the CI #255

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merged 6 commits into from
Nov 4, 2024
Merged

Update compat dependencies and add Julia LTS (1.10) to the CI #255

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49c0dfd
Upgrade base Julia version to the LTS (now 1.10) and other changes fo…
ferrolho Oct 10, 2024
b2af1b8
Update version of Julia on CI jobs
ferrolho Oct 11, 2024
a425aff
Revert base Julia version requirement
ferrolho Oct 12, 2024
645ab08
Bring back 0.x versions for Requires.jl and StaticArrays.jl
ferrolho Oct 12, 2024
4a78eb4
Add 1.6 back to CI and include ARM for macOS
ferrolho Oct 12, 2024
28cf359
Re-enable animation.ipynb
ferrolho Oct 22, 2024
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8 changes: 7 additions & 1 deletion .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ jobs:
matrix:
version:
- '1.6'
- '1.10'
- '1'
os:
- ubuntu-latest
Expand All @@ -22,11 +23,16 @@ jobs:
arch:
- x64
include:
- os: macOS-latest
arch: arm64
version: 1
Comment on lines +26 to +28
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I have added a new runner for macOS on ARM.

- os: ubuntu-latest
prefix: xvfb-run
exclude:
- os: windows-latest
version: '1.6'
version:
- '1.6'
- '1.10'

steps:
- uses: actions/checkout@v3
Expand Down
10 changes: 5 additions & 5 deletions Project.toml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
name = "MeshCat"
uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
authors = ["Robin Deits <[email protected]>"]
version = "0.16.2"
version = "0.16.3"
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Minor version bump for MeshCat.jl


[deps]
Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
Expand Down Expand Up @@ -33,13 +33,13 @@ DocStringExtensions = "0.5, 0.6, 0.7, 0.8, 0.9"
FFMPEG = "0.2, 0.3, 0.4"
GeometryBasics = "0.3, 0.4"
HTTP = "1"
Meshing = "0.5, 0.6"
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I wanted to have

Suggested change
Meshing = "0.5, 0.6"
Meshing = "0.5, 0.6, 0.7"

but Meshing.jl v0.7 breaks the snippets for creating a Mesh using marching cubes.

See my comment here: JuliaGeometry/Meshing.jl#99 (comment)

MeshIO = "0.4"
Meshing = "0.5"
MsgPack = "1"
Parameters = "0.10, 0.11, 0.12"
Parameters = "0.10, 0.11, 0.12, 0.13"
PrecompileTools = "1"
Requires = "0.5, 1"
Rotations = "1.3"
Rotations = "1"
StaticArrays = "0.10, 0.11, 0.12, 1"
Tar = "1"
julia = "1.6"
Expand All @@ -48,8 +48,8 @@ julia = "1.6"
ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
Electron = "a1bb12fb-d4d1-54b4-b10a-ee7951ef7ad3"
FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
Meshing = "e6723b4c-ebff-59f1-b4b7-d97aa5274f73"
MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
NBInclude = "0db19996-df87-5ea3-a455-e3a50d440464"
Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
Expand Down
4 changes: 2 additions & 2 deletions notebooks/Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,13 @@ CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
Meshing = "e6723b4c-ebff-59f1-b4b7-d97aa5274f73"
MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"

[compat]
Colors = "0.9, 0.10, 0.11, 0.12"
FileIO = "1"
GeometryBasics = "0.3, 0.4"
MeshIO = "0.4"
Meshing = "0.5, 0.6"
MeshIO = "0.4"
6 changes: 3 additions & 3 deletions notebooks/Static HTML Visualizers.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -165,15 +165,15 @@
"lastKernelId": null
},
"kernelspec": {
"display_name": "Julia 1.10.2",
"display_name": "Julia 1.11.0",
"language": "julia",
"name": "julia-1.10"
"name": "julia-1.11"
},
"language_info": {
"file_extension": ".jl",
"mimetype": "application/julia",
"name": "julia",
"version": "1.10.2"
"version": "1.11.0"
}
},
"nbformat": 4,
Expand Down
33 changes: 18 additions & 15 deletions notebooks/animation.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -46,22 +46,26 @@
"vis = Visualizer()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"There are a few different ways of opening the visualizer:\n",
"- In a new browser tab with `open(vis)`.\n",
"- Inside this jupyter notebook with `render(vis)`.\n",
"- In a standalone window with\n",
" ```julia\n",
" import Electron\n",
" open(vis, Electron.Application())\n",
" ```"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"## To open the visualizer in a new browser tab, do: \n",
"# open(vis)\n",
"\n",
"## To open the visualizer inside this jupyter notebook, do: \n",
"# render(vis)\n",
"\n",
"## To open this visualizer in a standalone window, do:\n",
"# import Electron\n",
"# open(vis, Electron.Application())\n",
"\n",
"render(vis)"
]
},
Expand Down Expand Up @@ -265,8 +269,7 @@
"metadata": {},
"outputs": [],
"source": [
"# MeshCat.convert_frames_to_video(\n",
"# \"/home/rdeits/Downloads/meshcat_1528401494656.tar\")"
"# MeshCat.convert_frames_to_video(expanduser(\"~/Downloads/meshcat_1528401494656.tar\"))"
]
}
],
Expand All @@ -276,15 +279,15 @@
"lastKernelId": null
},
"kernelspec": {
"display_name": "Julia 1.10.2",
"display_name": "Julia 1.11.0",
"language": "julia",
"name": "julia-1.10"
"name": "julia-1.11"
},
"language_info": {
"file_extension": ".jl",
"mimetype": "application/julia",
"name": "julia",
"version": "1.10.2"
"version": "1.11.0"
}
},
"nbformat": 4,
Expand Down
6 changes: 3 additions & 3 deletions notebooks/demo.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -530,15 +530,15 @@
"lastKernelId": null
},
"kernelspec": {
"display_name": "Julia 1.10.2",
"display_name": "Julia 1.11.0",
"language": "julia",
"name": "julia-1.10"
"name": "julia-1.11"
},
"language_info": {
"file_extension": ".jl",
"mimetype": "application/julia",
"name": "julia",
"version": "1.10.2"
"version": "1.11.0"
}
},
"nbformat": 4,
Expand Down
2 changes: 1 addition & 1 deletion test/notebook.jl
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
using NBInclude
@nbinclude(joinpath(@__DIR__, "..", "notebooks", "demo.ipynb"))
@nbinclude(joinpath(@__DIR__, "..", "notebooks", "animation.ipynb"))
# @nbinclude(joinpath(@__DIR__, "..", "notebooks", "animation.ipynb"))
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@ferrolho ferrolho Oct 10, 2024 •
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There is some issue with animations that I haven't figured out how to fix. Running ]test passes if animation.ipynb is commented and fails if this line is uncommented.

Here is the stack trace:

Stacktrace 
MeshCat: Error During Test at /Users/henrique/git/MeshCat.jl/test/runtests.jl:12
  Got exception outside of a @test
  LoadError: MethodError: no method matching active_module()
  You may have intended to import Base.active_module
  The applicable method may be too new: running in world age 26682, while current world is 26743.

  Closest candidates are:
    active_module(::REPL.LineEditREPL) (method too new to be called from this world context.)
     @ REPL ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/REPL/src/REPL.jl:595
    active_module() (method too new to be called from this world context.)
     @ REPL ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/REPL/src/REPL.jl:591
    active_module(::REPL.REPLDisplay) (method too new to be called from this world context.)
     @ REPL ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/REPL/src/REPL.jl:597
    ...

  Stacktrace:
    [1] #invokelatest#2
      @ ./essentials.jl:1054 [inlined]
    [2] invokelatest
      @ ./essentials.jl:1051 [inlined]
    [3] active_module
      @ ./show.jl:519 [inlined]
    [4] show_type_name(io::IOContext{IOBuffer}, tn::Core.TypeName)
      @ Base ./show.jl:1058
    [5] _show_type(io::IOContext{IOBuffer}, x::Type)
      @ Base ./show.jl:973
    [6] show(io::IOContext{IOBuffer}, x::Type)
      @ Base ./show.jl:970
    [7] show_delim_array(io::IOBuffer, itr::Tuple{DataType}, op::Char, delim::Char, cl::Char, delim_one::Bool, i1::Int64, n::Int64)
      @ Base ./show.jl:1435
    [8] show_delim_array
      @ ./show.jl:1420 [inlined]
    [9] show
      @ ./show.jl:1453 [inlined]
   [10] print(io::IOBuffer, x::Tuple{DataType})
      @ Base ./strings/io.jl:35
   [11] print_to_string(::String, ::Vararg{Any})
      @ Base ./strings/io.jl:148
   [12] string
      @ ./strings/io.jl:189 [inlined]
   [13] __overdub_generator__(world::UInt64, source::LineNumberNode, self::Type, context_type::Type, args::Tuple{DataType})
      @ Cassette ~/.julia/packages/Cassette/4UsSX/src/overdub.jl:619
   [14] atframe(f::Function, animation::Animation, frame::Int64)
      @ MeshCat ~/git/MeshCat.jl/src/atframe.jl:100
   [15] top-level scope
      @ ~/git/MeshCat.jl/notebooks/animation.ipynb:In[+6]:3
   [16] eval
      @ ./boot.jl:430 [inlined]
   [17] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String)
      @ Base ./loading.jl:2628
   [18] include_string
      @ ./loading.jl:2638 [inlined]
   [19] my_include_string(m::Module, s::String, path::String, prev::String, softscope::Bool)
      @ NBInclude ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:30
   [20] #2
      @ ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:93 [inlined]
   [21] task_local_storage(body::NBInclude.var"#2#3"{Bool, Module, String, String, String, String}, key::Symbol, val::Bool)
      @ Base ./task.jl:315
   [22] nbinclude(m::Module, path::String; renumber::Bool, counters::UnitRange{Int64}, regex::Regex, anshook::typeof(identity), softscope::Bool)
      @ NBInclude ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:92
   [23] nbinclude(m::Module, path::String)
      @ NBInclude ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:57
   [24] top-level scope
      @ ~/git/MeshCat.jl/test/notebook.jl:3
   [25] include(fname::String)
      @ Main ./sysimg.jl:38
   [26] macro expansion
      @ ~/git/MeshCat.jl/test/runtests.jl:16 [inlined]
   [27] macro expansion
      @ ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/Test/src/Test.jl:1700 [inlined]
   [28] top-level scope
      @ ~/git/MeshCat.jl/test/runtests.jl:16
   [29] include(fname::String)
      @ Main ./sysimg.jl:38
   [30] top-level scope
      @ none:6
   [31] eval
      @ ./boot.jl:430 [inlined]
   [32] exec_options(opts::Base.JLOptions)
      @ Base ./client.jl:296
   [33] _start()
      @ Base ./client.jl:531
  in expression starting at /Users/henrique/git/MeshCat.jl/notebooks/animation.ipynb:In[+6]:3
  in expression starting at /Users/henrique/git/MeshCat.jl/test/notebook.jl:3

  caused by: MethodError: no method matching active_module()
  You may have intended to import Base.active_module
  The applicable method may be too new: running in world age 26682, while current world is 26743.

  Closest candidates are:
    active_module(::REPL.LineEditREPL) (method too new to be called from this world context.)
     @ REPL ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/REPL/src/REPL.jl:595
    active_module() (method too new to be called from this world context.)
     @ REPL ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/REPL/src/REPL.jl:591
    active_module(::REPL.REPLDisplay) (method too new to be called from this world context.)
     @ REPL ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/REPL/src/REPL.jl:597
    ...

  Stacktrace:
    [1] #invokelatest#2
      @ ./essentials.jl:1054 [inlined]
    [2] invokelatest
      @ ./essentials.jl:1051 [inlined]
    [3] active_module
      @ ./show.jl:519 [inlined]
    [4] show_type_name(io::IOContext{IOBuffer}, tn::Core.TypeName)
      @ Base ./show.jl:1058
    [5] _show_type(io::IOContext{IOBuffer}, x::Type)
      @ Base ./show.jl:973
    [6] show(io::IOContext{IOBuffer}, x::Type)
      @ Base ./show.jl:970
    [7] print(io::IOContext{IOBuffer}, x::Type)
      @ Base ./strings/io.jl:35
    [8] print(::IOContext{IOBuffer}, ::String, ::Type, ::Vararg{Any})
      @ Base ./strings/io.jl:46
    [9] print_within_stacktrace(::IOContext{IOBuffer}, ::String, ::Vararg{Any}; color::Symbol, bold::Bool)
      @ Base ./show.jl:0
   [10] print_within_stacktrace
      @ ./show.jl:2549 [inlined]
   [11] show_signature_function(io::IOContext{IOBuffer}, ft::Any, demangle::Bool, fargname::String, html::Bool, qualified::Bool)
      @ Base ./show.jl:2543
   [12] show_tuple_as_call(out::IOBuffer, name::Symbol, sig::Type; demangle::Bool, kwargs::Nothing, argnames::Nothing, qualified::Bool, hasfirst::Bool)
      @ Base ./show.jl:2577
   [13] show_tuple_as_call(out::IOBuffer, name::Symbol, sig::Type)
      @ Base ./show.jl:2557
   [14] sprint(::Function, ::Symbol, ::Vararg{Any}; context::Nothing, sizehint::Int64)
      @ Base ./strings/io.jl:114
   [15] sprint
      @ ./strings/io.jl:107 [inlined]
   [16] verbose_lineinfo!(ci::Core.CodeInfo, sig::Type{<:Tuple})
      @ Cassette ~/.julia/packages/Cassette/4UsSX/src/overdub.jl:56
   [17] reflect(sigtypes::Tuple, world::UInt64)
      @ Cassette ~/.julia/packages/Cassette/4UsSX/src/overdub.jl:128
   [18] __overdub_generator__(world::UInt64, source::LineNumberNode, self::Type, context_type::Type, args::Tuple{DataType})
      @ Cassette ~/.julia/packages/Cassette/4UsSX/src/overdub.jl:612
   [19] atframe(f::Function, animation::Animation, frame::Int64)
      @ MeshCat ~/git/MeshCat.jl/src/atframe.jl:100
   [20] top-level scope
      @ ~/git/MeshCat.jl/notebooks/animation.ipynb:In[+6]:3
   [21] eval
      @ ./boot.jl:430 [inlined]
   [22] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String)
      @ Base ./loading.jl:2628
   [23] include_string
      @ ./loading.jl:2638 [inlined]
   [24] my_include_string(m::Module, s::String, path::String, prev::String, softscope::Bool)
      @ NBInclude ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:30
   [25] #2
      @ ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:93 [inlined]
   [26] task_local_storage(body::NBInclude.var"#2#3"{Bool, Module, String, String, String, String}, key::Symbol, val::Bool)
      @ Base ./task.jl:315
   [27] nbinclude(m::Module, path::String; renumber::Bool, counters::UnitRange{Int64}, regex::Regex, anshook::typeof(identity), softscope::Bool)
      @ NBInclude ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:92
   [28] nbinclude(m::Module, path::String)
      @ NBInclude ~/.julia/packages/NBInclude/pfsyO/src/NBInclude.jl:57
   [29] top-level scope
      @ ~/git/MeshCat.jl/test/notebook.jl:3
   [30] include(fname::String)
      @ Main ./sysimg.jl:38
   [31] macro expansion
      @ ~/git/MeshCat.jl/test/runtests.jl:16 [inlined]
   [32] macro expansion
      @ ~/.julia/juliaup/julia-1.11.0+0.aarch64.apple.darwin14/share/julia/stdlib/v1.11/Test/src/Test.jl:1700 [inlined]
   [33] top-level scope
      @ ~/git/MeshCat.jl/test/runtests.jl:16
   [34] include(fname::String)
      @ Main ./sysimg.jl:38
   [35] top-level scope
      @ none:6
   [36] eval
      @ ./boot.jl:430 [inlined]
   [37] exec_options(opts::Base.JLOptions)
      @ Base ./client.jl:296
   [38] _start()
      @ Base ./client.jl:531
Test Summary: | Error  Total   Time
MeshCat       |     1      1  17.2s
ERROR: LoadError: Some tests did not pass: 0 passed, 0 failed, 1 errored, 0 broken.
in expression starting at /Users/henrique/git/MeshCat.jl/test/runtests.jl:12
ERROR: Package MeshCat errored during testing

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Uh oh. It looks like Cassette hasn't been updated in the last few years, so it may just be starting to lose compatibility with modern Julia versions (it's pretty deeply tied into the behavior of the compiler, AFAIK). That error looks like it's pointing here: https://github.com/JuliaLabs/Cassette.jl/blob/44ae68ec0943523acae7134e13849aebefa72d8e/src/overdub.jl#L619 so there's some other error that we're not seeing which triggered an error while trying to print out its error message.

I wonder if this is mostly an issue with @nbinclude, which is doing its own eval stuff. Would you mind checking if putting that notebook's content into a normal .jl file and includeing it works?

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It seems like we just had to wait a bit — https://github.com/JuliaLabs/Cassette.jl/releases/tag/v0.3.14 is no longer giving an error.

I wonder though, since we are only using Cassette.jl for these few lines

MeshCat.jl/src/atframe.jl

Lines 50 to 70 in 1da3802

Cassette.@context AnimationCtx
function Cassette.overdub(ctx::AnimationCtx, ::typeof(settransform!), vis::Visualizer, tform::Transformation)
animation, frame = ctx.metadata
clip = getclip!(animation, vis.path)
_setprop!(clip, frame, "scale", "vector3", js_scaling(tform))
_setprop!(clip, frame, "position", "vector3", js_position(tform))
_setprop!(clip, frame, "quaternion", "quaternion", js_quaternion(tform))
end
function Cassette.overdub(ctx::AnimationCtx, ::typeof(setprop!), vis::Visualizer, prop::AbstractString, value)
animation, frame = ctx.metadata
clip = getclip!(animation, vis.path)
_setprop!(clip, frame, prop, get_property_type(prop), value)
end
function Cassette.overdub(ctx::AnimationCtx, ::typeof(setprop!), vis::Visualizer, prop::AbstractString, jstype::AbstractString, value)
animation, frame = ctx.metadata
clip = getclip!(animation, vis.path)
_setprop!(clip, frame, prop, jstype, value)
end
can we achieve the same without the use of Cassette.jl?

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Okay, even though MeshCat.jl seems good now, there is a problem when using it with MeshCatMechanisms.jl. 😭

Here is a minimum working example that shows the problem:

using MeshCat
using MeshCatMechanisms
using RigidBodyDynamics

urdf = joinpath(dirname(pathof(MeshCatMechanisms)), "..", "test", "urdf", "Acrobot.urdf")
robot = parse_urdf(urdf)
vis = Visualizer()

mvis = MechanismVisualizer(robot, URDFVisuals(urdf), vis)
state = MechanismState(robot, randn(2), randn(2))

t, q, v = simulate(state, 5.0)
animation = Animation(mvis, t, q)
The function body AST defined by this @generated function is not pure. This likely means it contains a closure, a comprehension or a generator.
Stacktrace 
Stacktrace:
  [1] StringMemory(::Int64)
    @ ./iobuffer.jl:44 [inlined]
  [2] StringMemory
    @ ./iobuffer.jl:44 [inlined]
  [3] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(Base.StringMemory), ::Int64)
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
  [4] #IOBuffer#519
    @ ./iobuffer.jl:128 [inlined]
  [5] recurse(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::Base.var"##IOBuffer#519", ::Bool, ::Bool, ::Nothing, ::Bool, ::Int64, ::Int64, ::Type{IOBuffer})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
  [6] kwcall(::@NamedTuple{sizehint::Int64}, ::Type{IOBuffer})
    @ ./iobuffer.jl:119 [inlined]
  [7] GenericIOBuffer
    @ ./iobuffer.jl:119 [inlined]
  [8] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(Core.kwcall), ::@NamedTuple{sizehint::Int64}, ::Type{IOBuffer})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
  [9] print_to_string
    @ ./strings/io.jl:146 [inlined]
 [10] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(Base.print_to_string), ::RigidBody{Float64})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [11] string(::RigidBody{Float64})
    @ ./strings/io.jl:189 [inlined]
 [12] string
    @ ./strings/io.jl:189 [inlined]
 [13] _broadcast_getindex_evalf(::typeof(string), ::RigidBody{Float64})
    @ ./broadcast.jl:673 [inlined]
 [14] _broadcast_getindex_evalf
    @ ./broadcast.jl:673 [inlined]
 [15] _broadcast_getindex
    @ ./broadcast.jl:646 [inlined]
 [16] getindex
    @ ./broadcast.jl:605 [inlined]
 [17] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(getindex), ::Base.Broadcast.Broadcasted{Nothing, Tuple{Base.OneTo{Int64}}, typeof(string), Tuple{Base.Broadcast.Extruded{Vector{RigidBody{Float64}}, Tuple{Bool}, Tuple{Int64}}}}, ::Int64)
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [18] macro expansion
    @ ./broadcast.jl:968 [inlined]
 [19] macro expansion
    @ ./simdloop.jl:77 [inlined]
 [20] copyto!
    @ ./broadcast.jl:967 [inlined]
 [21] copyto!(::Vector{String}, ::Base.Broadcast.Broadcasted{Base.Broadcast.DefaultArrayStyle{1}, Tuple{Base.OneTo{Int64}}, typeof(string), Tuple{Vector{RigidBody{Float64}}}})
    @ ./broadcast.jl:920 [inlined]
 [22] copyto!
    @ ./broadcast.jl:920 [inlined]
 [23] copy
    @ ./broadcast.jl:892 [inlined]
 [24] materialize(::Base.Broadcast.Broadcasted{Base.Broadcast.DefaultArrayStyle{1}, Nothing, typeof(string), Tuple{Vector{RigidBody{Float64}}}})
    @ ./broadcast.jl:867 [inlined]
 [25] materialize
    @ ./broadcast.jl:867 [inlined]
 [26] _path
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:130 [inlined]
 [27] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(MeshCatMechanisms._path), ::Mechanism{Float64}, ::RigidBody{Float64})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [28] getindex(::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, ::RigidBody{Float64})
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:48 [inlined]
 [29] getindex
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:48 [inlined]
 [30] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(getindex), ::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, ::RigidBody{Float64})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [31] _render_state!
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:147 [inlined]
 [32] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(MeshCatMechanisms._render_state!), ::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, ::MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [33] _render_state!(::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer})
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:135 [inlined]
 [34] _render_state!
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:135 [inlined]
 [35] set_configuration!
    @ ~/git/MeshCatMechanisms.jl/src/visualizer.jl:168 [inlined]
 [36] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, ::typeof(set_configuration!), ::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, ::Vector{Float64})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [37] (::MeshCatMechanisms.var"
    @ ~/git/MeshCatMechanisms.jl/src/animate.jl:45 [inlined]
 [38] #5
    @ ~/git/MeshCatMechanisms.jl/src/animate.jl:45 [inlined]
 [39] overdub(overdub_context#230::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{Animation, Int64}, Nothing, Cassette.var"##PassType#232", Nothing, Nothing}, overdub_arguments#231::MeshCatMechanisms.var"#5#6"{MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, Interpolations.GriddedInterpolation{Vector{Float64}, 1, Vector{SegmentedVector{JointID, Float64, Base.OneTo{JointID}, Vector{Float64}}}, Interpolations.Gridded{Interpolations.Linear{Interpolations.Throw{Interpolations.OnGrid}}}, Tuple{Vector{Float64}}}, Float64})
    @ Cassette ~/.julia/packages/Cassette/ROd5e/src/overdub.jl:0
 [40] atframe
    @ ~/.julia/packages/MeshCat/kXwul/src/atframe.jl:100 [inlined]
 [41] Animation(mvis::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, times::Vector{Float64}, configurations::Vector{SegmentedVector{JointID, Float64, Base.OneTo{JointID}, Vector{Float64}}}; fps::Int64)
    @ MeshCatMechanisms ~/git/MeshCatMechanisms.jl/src/animate.jl:44
 [42] Animation(mvis::MechanismVisualizer{MechanismState{Float64, Float64, Float64, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{Joint{Float64, Revolute{Float64}}}}, 1}}, Visualizer}, times::Vector{Float64}, configurations::Vector{SegmentedVector{JointID, Float64, Base.OneTo{JointID}, Vector{Float64}}})
    @ MeshCatMechanisms ~/git/MeshCatMechanisms.jl/src/animate.jl:33
 [43] top-level scope
    @ In[10]:13

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can we achieve the same without the use of Cassette.jl?

Yeah, I think that's a good question. For context, here's the change where we added cassette: #112 . It definitely improved the usability of the animation API, but it might not be worth the complexity we've added by depending on such an invasive tool.

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Agreed... As I get older I am realising that the least libraries something depends on the better. 😅

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