Remove MeshCat and fix `test/optim/test_lazy_ellipsoids_abstraction.j…

…l` (#352)

* rm MeshCat, add ModelingToolkit, rm problems/double_pendulum/*

* fix testing test/optim/test_lazy_ellipsoids_abstraction.jl

* fix BipedRobot

* rm ModelingToolkit

* add comment for evalSym

BipedRobot/Project.toml

@@ -4,11 +4,22 @@ authors = ["vdebauche <vividebauche@hotmail.com>"]
 version = "0.1.0"
 
 [deps]
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 LightXML = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MechanismGeometries = "931e9471-e8fb-5385-a477-07ad12718aca"
+MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
+MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Quaternions = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
+Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 SymPy = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6"
 Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
+
+[extras]
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+
+[targets]
+test = ["Test"]

BipedRobot/src/piracy.jl

@@ -17,6 +17,6 @@ end
 
 # Needed for `show`ing a `Transform3D`.
 # See https://github.com/JuliaSymbolics/Symbolics.jl/issues/97#issuecomment-798844158
-Symbolics.@register Base.rem2pi(x, y::RoundingMode)
+Symbolics.@register_symbolic Base.rem2pi(x, y::RoundingMode)
 
 end

BipedRobot/test/mass_matrix_double_pendulum_urdf.jl

@@ -1,13 +1,18 @@
 using BipedRobot
 using RigidBodyDynamics
 
+@static if get(ENV, "CI", "false") == "false"
+    using MeshCatMechanisms
+    using Plots
+    using BenchmarkTools
+end
+
 urdf = joinpath(dirname(dirname(pathof(BipedRobot))), "deps", "doublependulum.urdf")
 doublependulum = parse_urdf(Float64, urdf)
 
 const state = MechanismState(doublependulum)
 
 @static if get(ENV, "CI", "false") == "false"
-    using MechCatMechanisms
     vis = MechanismVisualizer(doublependulum, URDFVisuals(urdf))
     #IJuliaCell(vis)
 end
@@ -26,7 +31,6 @@ end
 shoulder_angles = collect(q[1] for q in qs)
 
 @static if get(ENV, "CI", "false") == "false"
-    using Plots
     plot(
         ts,
         shoulder_angles;
@@ -85,7 +89,6 @@ M = mass_matrix(state)
 mass_matrix!(M, state)
 
 @static if get(ENV, "CI", "false") == "false"
-    using BenchmarkTools
     @btime (setdirty!($state); mass_matrix!($M, $state))
 else
     mass_matrix!(M, state)

Project.toml

@@ -24,8 +24,6 @@ LightXML = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
 MathematicalSystems = "d14a8603-c872-5ed3-9ece-53e0e82e39da"
-MechanismGeometries = "931e9471-e8fb-5385-a477-07ad12718aca"
-MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 MutableArithmetics = "d8a4904e-b15c-11e9-3269-09a3773c0cb0"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Polyhedra = "67491407-f73d-577b-9b50-8179a7c68029"
@@ -61,7 +59,6 @@ Libtiff_jll = "4.4.0"
 LightXML = "0.9"
 MathOptInterface = "1"
 MathematicalSystems = "0.11, 0.12, 0.13"
-MechanismGeometries = "0.7"
 MutableArithmetics = "1"
 Plots = "1"
 Polyhedra = "0.7"
@@ -77,13 +74,13 @@ julia = "1.6"
 
 [extras]
 CDDLib = "3391f64e-dcde-5f30-b752-e11513730f60"
+Clarabel = "61c947e1-3e6d-4ee4-985a-eec8c727bd6e"
 HiGHS = "87dc4568-4c63-4d18-b0c0-bb2238e4078b"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 Mosek = "6405355b-0ac2-5fba-af84-adbd65488c0e"
 MosekTools = "1ec41992-ff65-5c91-ac43-2df89e9693a4"
 OSQP = "ab2f91bb-94b4-55e3-9ba0-7f65df51de79"
 Pavito = "cd433a01-47d1-575d-afb7-6db927ee8d8f"
-Clarabel = "61c947e1-3e6d-4ee4-985a-eec8c727bd6e"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]