fix BipedRobot

dionysos-dev · Apr 22, 2024 · d68b1a8 · d68b1a8
1 parent 01abba3
commit d68b1a8
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Showing 3 changed files with 18 additions and 4 deletions.
diff --git a/BipedRobot/Project.toml b/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"]
diff --git a/BipedRobot/src/piracy.jl b/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
diff --git a/BipedRobot/test/mass_matrix_double_pendulum_urdf.jl b/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)