diff --git a/Project.toml b/Project.toml index b4b1b0db..b360cd09 100644 --- a/Project.toml +++ b/Project.toml @@ -20,7 +20,7 @@ DocStringExtensions = "0.4.1, 0.5, 0.6, 0.7, 0.8" LightXML = "0.8, 0.9" LoopThrottle = "0.1" Reexport = "0.2, 1.0" -Rotations = "1" +Rotations = "1.1" StaticArrays = "0.8, 0.9, 0.10, 0.11, 0.12, 1" TypeSortedCollections = "1" UnsafeArrays = "1" diff --git a/examples/1. Quickstart - double pendulum/Manifest.toml b/examples/1. Quickstart - double pendulum/Manifest.toml index 84affc48..418b5d18 100644 --- a/examples/1. Quickstart - double pendulum/Manifest.toml +++ b/examples/1. Quickstart - double pendulum/Manifest.toml @@ -9,28 +9,80 @@ version = "1.3.0" [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" + +[[ChainRulesCore]] +deps = ["Compat", "LinearAlgebra", "SparseArrays"] +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" +uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" + +[[Compat]] +deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" +uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" +version = "3.41.0" + +[[CompilerSupportLibraries_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "8e695f735fca77e9708e795eda62afdb869cbb70" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.4+0" + [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +[[DelimitedFiles]] +deps = ["Mmap"] +uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" + [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" + [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[LibGit2]] deps = ["Printf"] @@ -41,9 +93,9 @@ uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -55,6 +107,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -68,14 +126,46 @@ version = "0.1.0" deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +[[Mmap]] +uuid = "a63ad114-7e13-5084-954f-fe012c677804" + +[[NaNMath]] +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" +uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" +version = "0.3.6" + +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" + +[[OpenSpecFun_jll]] +deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "9db77584158d0ab52307f8c04f8e7c08ca76b5b3" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+4" + [[Pkg]] deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" + [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" + [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" @@ -85,21 +175,21 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[Reexport]] -git-tree-sha1 = "57d8440b0c7d98fc4f889e478e80f268d534c9d5" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "1.0.0" +version = "1.2.2" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.0" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -107,6 +197,10 @@ uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" [[Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" +[[SharedArrays]] +deps = ["Distributed", "Mmap", "Random", "Serialization"] +uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" + [[Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" @@ -114,16 +208,28 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc" deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +[[SpecialFunctions]] +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" +uuid = "276daf66-3868-5448-9aa4-cd146d93841b" +version = "2.0.0" + [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "9da72ed50e94dbff92036da395275ed114e04d49" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "1.0.1" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" + [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" @@ -141,9 +247,9 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.1" +version = "1.0.3" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] diff --git a/examples/2. Closed-loop simulation and visualization/Manifest.toml b/examples/2. Closed-loop simulation and visualization/Manifest.toml index 05d5e4ce..0151c9fc 100644 --- a/examples/2. Closed-loop simulation and visualization/Manifest.toml +++ b/examples/2. Closed-loop simulation and visualization/Manifest.toml @@ -2,9 +2,9 @@ [[Adapt]] deps = ["LinearAlgebra"] -git-tree-sha1 = "4146c39f29be88c3f0cef732f86e5ab640d2e22d" +git-tree-sha1 = "af92965fb30777147966f58acb05da51c5616b5f" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.1.1" +version = "3.3.3" [[Artifacts]] deps = ["Pkg"] @@ -20,9 +20,9 @@ version = "0.1.0" [[AxisAlgorithms]] deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"] -git-tree-sha1 = "a4d07a1c313392a77042855df46c5f534076fab9" +git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7" uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "1.0.0" +version = "1.0.1" [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" @@ -35,9 +35,9 @@ version = "1.0.2" [[Blink]] deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"] -git-tree-sha1 = "8cc2a5f880e832ef5b0d222673a7fdd082f9c2fc" +git-tree-sha1 = "08d0b679fd7caa49e2bca9214b131289e19808c0" uuid = "ad839575-38b3-5650-b840-f874b8c74a25" -version = "0.12.4" +version = "0.12.5" [[Bzip2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -51,33 +51,63 @@ git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399" uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8" version = "0.1.1" +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" + [[Cassette]] -git-tree-sha1 = "9cc225870ec32ce7b9c773d4dcdaef32f622cf89" +git-tree-sha1 = "6ce3cd755d4130d43bab24ea5181e77b89b51839" uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.3.4" +version = "0.3.9" + +[[ChainRulesCore]] +deps = ["Compat", "LinearAlgebra", "SparseArrays"] +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" +uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" [[ColorTypes]] deps = ["FixedPointNumbers", "Random"] -git-tree-sha1 = "7b62b728a5f3dd6ee3b23910303ccf27e82fad5e" +git-tree-sha1 = "32a2b8af383f11cbb65803883837a149d10dfe8a" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.8.1" +version = "0.10.12" [[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"] -git-tree-sha1 = "f465c8fb261367b2b6b01f9f30357df6bd658460" +deps = ["ColorTypes", "FixedPointNumbers", "Reexport"] +git-tree-sha1 = "417b0ed7b8b838aa6ca0a87aadf1bb9eb111ce40" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.10.2" +version = "0.12.8" + +[[Compat]] +deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" +uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" +version = "3.41.0" + +[[CompilerSupportLibraries_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "8e695f735fca77e9708e795eda62afdb869cbb70" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.4+0" [[CoordinateTransformations]] deps = ["LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "6d1c23e740a586955645500bbec662476204a52c" +git-tree-sha1 = "681ea870b918e7cff7111da58791d7f718067a19" uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.6.1" +version = "0.6.2" [[DataAPI]] -git-tree-sha1 = "6d64b28d291cb94a0d84e6e41081fb081e7f717f" +git-tree-sha1 = "cc70b17275652eb47bc9e5f81635981f13cea5c8" uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" -version = "1.5.0" +version = "1.9.0" [[DataValueInterfaces]] git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" @@ -88,21 +118,37 @@ version = "1.0.0" deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +[[DelimitedFiles]] +deps = ["Mmap"] +uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" + [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" + +[[EarCut_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "92d8f9f208637e8d2d28c664051a00569c01493d" +uuid = "5ae413db-bbd1-5e63-b57d-d24a61df00f5" +version = "2.1.5+1" [[FFMPEG]] deps = ["FFMPEG_jll"] -git-tree-sha1 = "c82bef6fc01e30d500f588cd01d29bdd44f1924e" +git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8" uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" -version = "0.3.0" +version = "0.4.1" [[FFMPEG_jll]] deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "LibVPX_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] @@ -114,9 +160,10 @@ version = "4.3.1+4" uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" [[FixedPointNumbers]] -git-tree-sha1 = "4aaea64dd0c30ad79037084f8ca2b94348e65eaa" +deps = ["Statistics"] +git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc" uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.7.1" +version = "0.8.4" [[FreeType2_jll]] deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"] @@ -136,17 +183,17 @@ git-tree-sha1 = "04cb9cfaa6ba5311973994fe3496ddec19b6292a" uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca" version = "0.5.0" -[[GeometryTypes]] -deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "78f0ce9d01993b637a8f28d84537d75dc0ce8eef" -uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.7.10" +[[GeometryBasics]] +deps = ["EarCut_jll", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"] +git-tree-sha1 = "58bcdf5ebc057b085e58d95c138725628dd7453c" +uuid = "5c1252a2-5f33-56bf-86c9-59e7332b4326" +version = "0.4.1" [[HTTP]] -deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets", "URIs"] -git-tree-sha1 = "63055ee44b5c2b95ec1921edcf856c60124ff0c3" +deps = ["Base64", "Dates", "IniFile", "Logging", "MbedTLS", "NetworkOptions", "Sockets", "URIs"] +git-tree-sha1 = "0fa77022fe4b511826b39c894c90daf5fce3334a" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.9.2" +version = "0.9.17" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -162,19 +209,35 @@ version = "0.5.0" [[InteractBase]] deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"] -git-tree-sha1 = "2a7c0cc638f10b44e0e8b77b8f9a7f839ca853ba" +git-tree-sha1 = "caf189c84e1cc6512b71fea0ec60fa8fdc761d7b" uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009" -version = "0.10.5" +version = "0.10.7" [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] -deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "2b7d4e9be8b74f03115e64cf36ed2f48ae83d946" +deps = ["AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] +git-tree-sha1 = "b15fc0a95c564ca2e0a7ae12c1f095ca848ceb31" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.10" +version = "0.13.5" + +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" + +[[IterTools]] +git-tree-sha1 = "fa6287a4469f5e048d763df38279ee729fbd44e5" +uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e" +version = "1.4.0" [[IteratorInterfaceExtensions]] git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" @@ -182,27 +245,28 @@ uuid = "82899510-4779-5014-852e-03e436cf321d" version = "1.0.0" [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] -git-tree-sha1 = "829f37792c9a63904a95c3c579e3b5847b40802a" +git-tree-sha1 = "bd6c034156b1e7295450a219c4340e32e50b08b1" uuid = "97c1335a-c9c5-57fe-bc5d-ec35cebe8660" -version = "0.5.2" +version = "0.5.3" [[JSON]] deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4" +git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.1" +version = "0.21.2" [[Knockout]] deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"] -git-tree-sha1 = "8b5552a7a9efc2b0565e2256c919651e6f4e7931" +git-tree-sha1 = "deb74017e1061d76050ff68d219217413be4ef59" uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc" -version = "0.2.4" +version = "0.2.5" [[LAME_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -231,9 +295,9 @@ uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -245,6 +309,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -256,9 +326,9 @@ version = "0.1.0" [[MacroTools]] deps = ["Markdown", "Random"] -git-tree-sha1 = "6a8a2a625ab0dea913aba95c11370589e0239ff0" +git-tree-sha1 = "3d3e902b31198a27340d0bf00d6ac452866021cf" uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" -version = "0.5.6" +version = "0.5.9" [[Markdown]] deps = ["Base64"] @@ -282,22 +352,22 @@ uuid = "442fdcdd-2543-5da2-b0f3-8c86c306513e" version = "0.3.1" [[MechanismGeometries]] -deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] -git-tree-sha1 = "86ab29ff501fe86e41962efa33433768a706c447" +deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] +git-tree-sha1 = "0b1c87463f24bd18a9685601e6bf6207cd051cdd" uuid = "931e9471-e8fb-5385-a477-07ad12718aca" -version = "0.5.0" +version = "0.7.1" [[MeshCat]] -deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "4ec09b64e9477aa0c8e82a5189a12d3dddd65faf" +deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Pkg", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] +git-tree-sha1 = "bd707ee5273b7778554b0b22b3071cf97f71e1f4" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.11.3" +version = "0.14.2" [[MeshCatMechanisms]] -deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "cbbbd5b996096c5e3bbe38bd01fca9816bc566b8" +deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] +git-tree-sha1 = "bfeadfb6a7229767ddf300575a7473d1fe89a80d" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.7.1" +version = "0.8.2" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" @@ -310,26 +380,36 @@ version = "1.1.0" [[Mustache]] deps = ["Printf", "Tables"] -git-tree-sha1 = "36995ef0d532fe08119d70b2365b7b03d4e00f48" +git-tree-sha1 = "21d7a05c3b94bcf45af67beccab4f2a1f4a3c30a" uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" -version = "1.0.10" +version = "1.0.12" [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Pkg", "Sockets", "WebSockets"] -git-tree-sha1 = "2578b3cd03e4f568f213c7d51b2118f9e81c2617" +git-tree-sha1 = "82dfb2cead9895e10ee1b0ca37a01088456c4364" uuid = "a975b10e-0019-58db-a62f-e48ff68538c9" -version = "0.7.5" +version = "0.7.6" + +[[NaNMath]] +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" +uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" +version = "0.3.6" + +[[NetworkOptions]] +git-tree-sha1 = "ed3157f48a05543cce9b241e1f2815f7e843d96e" +uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" +version = "1.2.0" [[Observables]] -git-tree-sha1 = "3469ef96607a6b9a1e89e54e6f23401073ed3126" +git-tree-sha1 = "fe29afdef3d0c4a8286128d4e45cc50621b1e43d" uuid = "510215fc-4207-5dde-b226-833fc4488ee2" -version = "0.3.3" +version = "0.4.0" [[OffsetArrays]] deps = ["Adapt"] -git-tree-sha1 = "8fe8860da7427b10b996deaf1c8b9a7e96c00d05" +git-tree-sha1 = "043017e0bdeff61cfbb7afeb558ab29536bbb5ed" uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881" -version = "1.5.2" +version = "1.10.8" [[Ogg_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -337,12 +417,24 @@ git-tree-sha1 = "a42c0f138b9ebe8b58eba2271c5053773bde52d0" uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051" version = "1.3.4+2" +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" + [[OpenSSL_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "71bbbc616a1d710879f5a1021bcba65ffba6ce58" uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" version = "1.1.1+6" +[[OpenSpecFun_jll]] +deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "9db77584158d0ab52307f8c04f8e7c08ca76b5b3" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+4" + [[Opus_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "f9d57f4126c39565e05a2b0264df99f497fc6f37" @@ -350,21 +442,21 @@ uuid = "91d4177d-7536-5919-b921-800302f37372" version = "1.3.1+3" [[OrderedCollections]] -git-tree-sha1 = "d45739abcfc03b51f6a42712894a593f74c80a23" +git-tree-sha1 = "85f8e6578bf1f9ee0d11e7bb1b1456435479d47c" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.3.3" +version = "1.4.1" [[Parameters]] deps = ["OrderedCollections", "UnPack"] -git-tree-sha1 = "2276ac65f1e236e0a6ea70baff3f62ad4c625345" +git-tree-sha1 = "34c0e9ad262e5f7fc75b10a9952ca7692cfc5fbe" uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.2" +version = "0.12.3" [[Parsers]] deps = ["Dates"] -git-tree-sha1 = "50c9a9ed8c714945e01cd53a21007ed3865ed714" +git-tree-sha1 = "92f91ba9e5941fc781fecf5494ac1da87bdac775" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.15" +version = "2.2.0" [[Pidfile]] deps = ["FileWatching", "Test"] @@ -376,10 +468,22 @@ version = "1.2.0" deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" + [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" + [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" @@ -389,33 +493,33 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[Ratios]] -git-tree-sha1 = "37d210f612d70f3f7d57d488cb3b6eff56ad4e41" +deps = ["Requires"] +git-tree-sha1 = "01d341f502250e81f6fec0afe662aa861392a3aa" uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439" -version = "0.4.0" +version = "0.4.2" [[Reexport]] -deps = ["Pkg"] -git-tree-sha1 = "7b1d07f411bc8ddb7977ec7f377b97b158514fe0" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "0.2.0" +version = "1.2.2" [[Requires]] deps = ["UUIDs"] -git-tree-sha1 = "cfbac6c1ed70c002ec6361e7fd334f02820d6419" +git-tree-sha1 = "838a3a4188e2ded87a4f9f184b4b0d78a1e91cb7" uuid = "ae029012-a4dd-5104-9daa-d747884805df" -version = "1.1.2" +version = "1.3.0" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.0" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -434,27 +538,45 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc" deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +[[SpecialFunctions]] +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" +uuid = "276daf66-3868-5448-9aa4-cd146d93841b" +version = "2.0.0" + [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "da4cf579416c81994afd6322365d00916c79b8ae" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.5" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[StructArrays]] +deps = ["Adapt", "DataAPI", "StaticArrays", "Tables"] +git-tree-sha1 = "2ce41e0d042c60ecd131e9fb7154a3bfadbf50d3" +uuid = "09ab397b-f2b6-538f-b94a-2f83cf4a842a" +version = "0.6.3" + +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" + [[TableTraits]] deps = ["IteratorInterfaceExtensions"] -git-tree-sha1 = "b1ad568ba658d8cbb3b892ed5380a6f3e781a81e" +git-tree-sha1 = "c06b2f539df1c6efa794486abfb6ed2022561a39" uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c" -version = "1.0.0" +version = "1.0.1" [[Tables]] deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] -git-tree-sha1 = "8dc2bb7d3548e315d890706547b24502ed79504f" +git-tree-sha1 = "bb1064c9a84c52e277f1096cf41434b675cd368b" uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" -version = "1.3.1" +version = "1.6.1" [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] @@ -472,9 +594,9 @@ uuid = "30578b45-9adc-5946-b283-645ec420af67" version = "0.4.1" [[URIs]] -git-tree-sha1 = "7855809b88d7b16e9b029afd17880930626f54a2" +git-tree-sha1 = "97bbe755a53fe859669cd907f2d96aee8d2c1355" uuid = "5c2747f8-b7ea-4ff2-ba2e-563bfd36b1d4" -version = "1.2.0" +version = "1.3.0" [[UUIDs]] deps = ["Random", "SHA"] @@ -489,15 +611,15 @@ version = "1.0.2" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.1" +version = "1.0.3" [[WebIO]] deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] -git-tree-sha1 = "adc25e225bc334c7df6eec3b39496edfc451cc38" +git-tree-sha1 = "5fe32e4086d49f7ab9b087296742859f3ae6d62a" uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29" -version = "0.8.15" +version = "0.8.16" [[WebSockets]] deps = ["Base64", "Dates", "HTTP", "Logging", "Sockets"] @@ -507,15 +629,15 @@ version = "1.5.9" [[Widgets]] deps = ["Colors", "Dates", "Observables", "OrderedCollections"] -git-tree-sha1 = "fc0feda91b3fef7fe6948ee09bb628f882b49ca4" +git-tree-sha1 = "80661f59d28714632132c73779f8becc19a113f2" uuid = "cc8bc4a8-27d6-5769-a93b-9d913e69aa62" -version = "0.6.2" +version = "0.6.4" [[WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "59e2ad8fd1591ea019a5259bd012d7aee15f995c" +git-tree-sha1 = "de67fa59e33ad156a590055375a30b23c40299d3" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.3" +version = "0.5.5" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] diff --git a/examples/2. Closed-loop simulation and visualization/Project.toml b/examples/2. Closed-loop simulation and visualization/Project.toml index b905cf80..3483c6a0 100644 --- a/examples/2. Closed-loop simulation and visualization/Project.toml +++ b/examples/2. Closed-loop simulation and visualization/Project.toml @@ -4,4 +4,4 @@ MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d" RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" [compat] -MeshCat = "0.10, 0.11" +MeshCat = "0.10, 0.11, 0.14" diff --git a/examples/3. Four-bar linkage/Manifest.toml b/examples/3. Four-bar linkage/Manifest.toml index 05d5e4ce..0151c9fc 100644 --- a/examples/3. Four-bar linkage/Manifest.toml +++ b/examples/3. Four-bar linkage/Manifest.toml @@ -2,9 +2,9 @@ [[Adapt]] deps = ["LinearAlgebra"] -git-tree-sha1 = "4146c39f29be88c3f0cef732f86e5ab640d2e22d" +git-tree-sha1 = "af92965fb30777147966f58acb05da51c5616b5f" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.1.1" +version = "3.3.3" [[Artifacts]] deps = ["Pkg"] @@ -20,9 +20,9 @@ version = "0.1.0" [[AxisAlgorithms]] deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"] -git-tree-sha1 = "a4d07a1c313392a77042855df46c5f534076fab9" +git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7" uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "1.0.0" +version = "1.0.1" [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" @@ -35,9 +35,9 @@ version = "1.0.2" [[Blink]] deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"] -git-tree-sha1 = "8cc2a5f880e832ef5b0d222673a7fdd082f9c2fc" +git-tree-sha1 = "08d0b679fd7caa49e2bca9214b131289e19808c0" uuid = "ad839575-38b3-5650-b840-f874b8c74a25" -version = "0.12.4" +version = "0.12.5" [[Bzip2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -51,33 +51,63 @@ git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399" uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8" version = "0.1.1" +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" + [[Cassette]] -git-tree-sha1 = "9cc225870ec32ce7b9c773d4dcdaef32f622cf89" +git-tree-sha1 = "6ce3cd755d4130d43bab24ea5181e77b89b51839" uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.3.4" +version = "0.3.9" + +[[ChainRulesCore]] +deps = ["Compat", "LinearAlgebra", "SparseArrays"] +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" +uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" [[ColorTypes]] deps = ["FixedPointNumbers", "Random"] -git-tree-sha1 = "7b62b728a5f3dd6ee3b23910303ccf27e82fad5e" +git-tree-sha1 = "32a2b8af383f11cbb65803883837a149d10dfe8a" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.8.1" +version = "0.10.12" [[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"] -git-tree-sha1 = "f465c8fb261367b2b6b01f9f30357df6bd658460" +deps = ["ColorTypes", "FixedPointNumbers", "Reexport"] +git-tree-sha1 = "417b0ed7b8b838aa6ca0a87aadf1bb9eb111ce40" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.10.2" +version = "0.12.8" + +[[Compat]] +deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" +uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" +version = "3.41.0" + +[[CompilerSupportLibraries_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "8e695f735fca77e9708e795eda62afdb869cbb70" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.4+0" [[CoordinateTransformations]] deps = ["LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "6d1c23e740a586955645500bbec662476204a52c" +git-tree-sha1 = "681ea870b918e7cff7111da58791d7f718067a19" uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.6.1" +version = "0.6.2" [[DataAPI]] -git-tree-sha1 = "6d64b28d291cb94a0d84e6e41081fb081e7f717f" +git-tree-sha1 = "cc70b17275652eb47bc9e5f81635981f13cea5c8" uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" -version = "1.5.0" +version = "1.9.0" [[DataValueInterfaces]] git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" @@ -88,21 +118,37 @@ version = "1.0.0" deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +[[DelimitedFiles]] +deps = ["Mmap"] +uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" + [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" + +[[EarCut_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "92d8f9f208637e8d2d28c664051a00569c01493d" +uuid = "5ae413db-bbd1-5e63-b57d-d24a61df00f5" +version = "2.1.5+1" [[FFMPEG]] deps = ["FFMPEG_jll"] -git-tree-sha1 = "c82bef6fc01e30d500f588cd01d29bdd44f1924e" +git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8" uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" -version = "0.3.0" +version = "0.4.1" [[FFMPEG_jll]] deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "LibVPX_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] @@ -114,9 +160,10 @@ version = "4.3.1+4" uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" [[FixedPointNumbers]] -git-tree-sha1 = "4aaea64dd0c30ad79037084f8ca2b94348e65eaa" +deps = ["Statistics"] +git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc" uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.7.1" +version = "0.8.4" [[FreeType2_jll]] deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"] @@ -136,17 +183,17 @@ git-tree-sha1 = "04cb9cfaa6ba5311973994fe3496ddec19b6292a" uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca" version = "0.5.0" -[[GeometryTypes]] -deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "78f0ce9d01993b637a8f28d84537d75dc0ce8eef" -uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.7.10" +[[GeometryBasics]] +deps = ["EarCut_jll", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"] +git-tree-sha1 = "58bcdf5ebc057b085e58d95c138725628dd7453c" +uuid = "5c1252a2-5f33-56bf-86c9-59e7332b4326" +version = "0.4.1" [[HTTP]] -deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets", "URIs"] -git-tree-sha1 = "63055ee44b5c2b95ec1921edcf856c60124ff0c3" +deps = ["Base64", "Dates", "IniFile", "Logging", "MbedTLS", "NetworkOptions", "Sockets", "URIs"] +git-tree-sha1 = "0fa77022fe4b511826b39c894c90daf5fce3334a" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.9.2" +version = "0.9.17" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -162,19 +209,35 @@ version = "0.5.0" [[InteractBase]] deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"] -git-tree-sha1 = "2a7c0cc638f10b44e0e8b77b8f9a7f839ca853ba" +git-tree-sha1 = "caf189c84e1cc6512b71fea0ec60fa8fdc761d7b" uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009" -version = "0.10.5" +version = "0.10.7" [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] -deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "2b7d4e9be8b74f03115e64cf36ed2f48ae83d946" +deps = ["AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] +git-tree-sha1 = "b15fc0a95c564ca2e0a7ae12c1f095ca848ceb31" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.10" +version = "0.13.5" + +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" + +[[IterTools]] +git-tree-sha1 = "fa6287a4469f5e048d763df38279ee729fbd44e5" +uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e" +version = "1.4.0" [[IteratorInterfaceExtensions]] git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" @@ -182,27 +245,28 @@ uuid = "82899510-4779-5014-852e-03e436cf321d" version = "1.0.0" [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] -git-tree-sha1 = "829f37792c9a63904a95c3c579e3b5847b40802a" +git-tree-sha1 = "bd6c034156b1e7295450a219c4340e32e50b08b1" uuid = "97c1335a-c9c5-57fe-bc5d-ec35cebe8660" -version = "0.5.2" +version = "0.5.3" [[JSON]] deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4" +git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.1" +version = "0.21.2" [[Knockout]] deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"] -git-tree-sha1 = "8b5552a7a9efc2b0565e2256c919651e6f4e7931" +git-tree-sha1 = "deb74017e1061d76050ff68d219217413be4ef59" uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc" -version = "0.2.4" +version = "0.2.5" [[LAME_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -231,9 +295,9 @@ uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -245,6 +309,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -256,9 +326,9 @@ version = "0.1.0" [[MacroTools]] deps = ["Markdown", "Random"] -git-tree-sha1 = "6a8a2a625ab0dea913aba95c11370589e0239ff0" +git-tree-sha1 = "3d3e902b31198a27340d0bf00d6ac452866021cf" uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" -version = "0.5.6" +version = "0.5.9" [[Markdown]] deps = ["Base64"] @@ -282,22 +352,22 @@ uuid = "442fdcdd-2543-5da2-b0f3-8c86c306513e" version = "0.3.1" [[MechanismGeometries]] -deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] -git-tree-sha1 = "86ab29ff501fe86e41962efa33433768a706c447" +deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] +git-tree-sha1 = "0b1c87463f24bd18a9685601e6bf6207cd051cdd" uuid = "931e9471-e8fb-5385-a477-07ad12718aca" -version = "0.5.0" +version = "0.7.1" [[MeshCat]] -deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "4ec09b64e9477aa0c8e82a5189a12d3dddd65faf" +deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Pkg", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] +git-tree-sha1 = "bd707ee5273b7778554b0b22b3071cf97f71e1f4" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.11.3" +version = "0.14.2" [[MeshCatMechanisms]] -deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "cbbbd5b996096c5e3bbe38bd01fca9816bc566b8" +deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] +git-tree-sha1 = "bfeadfb6a7229767ddf300575a7473d1fe89a80d" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.7.1" +version = "0.8.2" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" @@ -310,26 +380,36 @@ version = "1.1.0" [[Mustache]] deps = ["Printf", "Tables"] -git-tree-sha1 = "36995ef0d532fe08119d70b2365b7b03d4e00f48" +git-tree-sha1 = "21d7a05c3b94bcf45af67beccab4f2a1f4a3c30a" uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" -version = "1.0.10" +version = "1.0.12" [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Pkg", "Sockets", "WebSockets"] -git-tree-sha1 = "2578b3cd03e4f568f213c7d51b2118f9e81c2617" +git-tree-sha1 = "82dfb2cead9895e10ee1b0ca37a01088456c4364" uuid = "a975b10e-0019-58db-a62f-e48ff68538c9" -version = "0.7.5" +version = "0.7.6" + +[[NaNMath]] +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" +uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" +version = "0.3.6" + +[[NetworkOptions]] +git-tree-sha1 = "ed3157f48a05543cce9b241e1f2815f7e843d96e" +uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" +version = "1.2.0" [[Observables]] -git-tree-sha1 = "3469ef96607a6b9a1e89e54e6f23401073ed3126" +git-tree-sha1 = "fe29afdef3d0c4a8286128d4e45cc50621b1e43d" uuid = "510215fc-4207-5dde-b226-833fc4488ee2" -version = "0.3.3" +version = "0.4.0" [[OffsetArrays]] deps = ["Adapt"] -git-tree-sha1 = "8fe8860da7427b10b996deaf1c8b9a7e96c00d05" +git-tree-sha1 = "043017e0bdeff61cfbb7afeb558ab29536bbb5ed" uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881" -version = "1.5.2" +version = "1.10.8" [[Ogg_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -337,12 +417,24 @@ git-tree-sha1 = "a42c0f138b9ebe8b58eba2271c5053773bde52d0" uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051" version = "1.3.4+2" +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" + [[OpenSSL_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "71bbbc616a1d710879f5a1021bcba65ffba6ce58" uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" version = "1.1.1+6" +[[OpenSpecFun_jll]] +deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "9db77584158d0ab52307f8c04f8e7c08ca76b5b3" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+4" + [[Opus_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "f9d57f4126c39565e05a2b0264df99f497fc6f37" @@ -350,21 +442,21 @@ uuid = "91d4177d-7536-5919-b921-800302f37372" version = "1.3.1+3" [[OrderedCollections]] -git-tree-sha1 = "d45739abcfc03b51f6a42712894a593f74c80a23" +git-tree-sha1 = "85f8e6578bf1f9ee0d11e7bb1b1456435479d47c" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.3.3" +version = "1.4.1" [[Parameters]] deps = ["OrderedCollections", "UnPack"] -git-tree-sha1 = "2276ac65f1e236e0a6ea70baff3f62ad4c625345" +git-tree-sha1 = "34c0e9ad262e5f7fc75b10a9952ca7692cfc5fbe" uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.2" +version = "0.12.3" [[Parsers]] deps = ["Dates"] -git-tree-sha1 = "50c9a9ed8c714945e01cd53a21007ed3865ed714" +git-tree-sha1 = "92f91ba9e5941fc781fecf5494ac1da87bdac775" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.15" +version = "2.2.0" [[Pidfile]] deps = ["FileWatching", "Test"] @@ -376,10 +468,22 @@ version = "1.2.0" deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" + [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" + [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" @@ -389,33 +493,33 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[Ratios]] -git-tree-sha1 = "37d210f612d70f3f7d57d488cb3b6eff56ad4e41" +deps = ["Requires"] +git-tree-sha1 = "01d341f502250e81f6fec0afe662aa861392a3aa" uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439" -version = "0.4.0" +version = "0.4.2" [[Reexport]] -deps = ["Pkg"] -git-tree-sha1 = "7b1d07f411bc8ddb7977ec7f377b97b158514fe0" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "0.2.0" +version = "1.2.2" [[Requires]] deps = ["UUIDs"] -git-tree-sha1 = "cfbac6c1ed70c002ec6361e7fd334f02820d6419" +git-tree-sha1 = "838a3a4188e2ded87a4f9f184b4b0d78a1e91cb7" uuid = "ae029012-a4dd-5104-9daa-d747884805df" -version = "1.1.2" +version = "1.3.0" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.0" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -434,27 +538,45 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc" deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +[[SpecialFunctions]] +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" +uuid = "276daf66-3868-5448-9aa4-cd146d93841b" +version = "2.0.0" + [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "da4cf579416c81994afd6322365d00916c79b8ae" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.5" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[StructArrays]] +deps = ["Adapt", "DataAPI", "StaticArrays", "Tables"] +git-tree-sha1 = "2ce41e0d042c60ecd131e9fb7154a3bfadbf50d3" +uuid = "09ab397b-f2b6-538f-b94a-2f83cf4a842a" +version = "0.6.3" + +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" + [[TableTraits]] deps = ["IteratorInterfaceExtensions"] -git-tree-sha1 = "b1ad568ba658d8cbb3b892ed5380a6f3e781a81e" +git-tree-sha1 = "c06b2f539df1c6efa794486abfb6ed2022561a39" uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c" -version = "1.0.0" +version = "1.0.1" [[Tables]] deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] -git-tree-sha1 = "8dc2bb7d3548e315d890706547b24502ed79504f" +git-tree-sha1 = "bb1064c9a84c52e277f1096cf41434b675cd368b" uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" -version = "1.3.1" +version = "1.6.1" [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] @@ -472,9 +594,9 @@ uuid = "30578b45-9adc-5946-b283-645ec420af67" version = "0.4.1" [[URIs]] -git-tree-sha1 = "7855809b88d7b16e9b029afd17880930626f54a2" +git-tree-sha1 = "97bbe755a53fe859669cd907f2d96aee8d2c1355" uuid = "5c2747f8-b7ea-4ff2-ba2e-563bfd36b1d4" -version = "1.2.0" +version = "1.3.0" [[UUIDs]] deps = ["Random", "SHA"] @@ -489,15 +611,15 @@ version = "1.0.2" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.1" +version = "1.0.3" [[WebIO]] deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] -git-tree-sha1 = "adc25e225bc334c7df6eec3b39496edfc451cc38" +git-tree-sha1 = "5fe32e4086d49f7ab9b087296742859f3ae6d62a" uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29" -version = "0.8.15" +version = "0.8.16" [[WebSockets]] deps = ["Base64", "Dates", "HTTP", "Logging", "Sockets"] @@ -507,15 +629,15 @@ version = "1.5.9" [[Widgets]] deps = ["Colors", "Dates", "Observables", "OrderedCollections"] -git-tree-sha1 = "fc0feda91b3fef7fe6948ee09bb628f882b49ca4" +git-tree-sha1 = "80661f59d28714632132c73779f8becc19a113f2" uuid = "cc8bc4a8-27d6-5769-a93b-9d913e69aa62" -version = "0.6.2" +version = "0.6.4" [[WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "59e2ad8fd1591ea019a5259bd012d7aee15f995c" +git-tree-sha1 = "de67fa59e33ad156a590055375a30b23c40299d3" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.3" +version = "0.5.5" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] diff --git a/examples/3. Four-bar linkage/Project.toml b/examples/3. Four-bar linkage/Project.toml index e1b51498..0cb8f5e3 100644 --- a/examples/3. Four-bar linkage/Project.toml +++ b/examples/3. Four-bar linkage/Project.toml @@ -6,4 +6,4 @@ RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" [compat] -MeshCat = "0.10, 0.11" +MeshCat = "0.10, 0.11, 0.14" diff --git a/examples/4. Jacobian IK and Control/Manifest.toml b/examples/4. Jacobian IK and Control/Manifest.toml index 92e62e4a..c6252307 100644 --- a/examples/4. Jacobian IK and Control/Manifest.toml +++ b/examples/4. Jacobian IK and Control/Manifest.toml @@ -2,9 +2,14 @@ [[Adapt]] deps = ["LinearAlgebra"] -git-tree-sha1 = "ffcfa2d345aaee0ef3d8346a073d5dd03c983ebe" +git-tree-sha1 = "af92965fb30777147966f58acb05da51c5616b5f" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "3.2.0" +version = "3.3.3" + +[[ArgTools]] +git-tree-sha1 = "bdf73eec6a88885256f282d48eafcad25d7de494" +uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" +version = "1.1.1" [[Artifacts]] deps = ["Pkg"] @@ -20,9 +25,9 @@ version = "0.1.0" [[AxisAlgorithms]] deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"] -git-tree-sha1 = "a4d07a1c313392a77042855df46c5f534076fab9" +git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7" uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "1.0.0" +version = "1.0.1" [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" @@ -35,9 +40,9 @@ version = "1.0.2" [[Blink]] deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"] -git-tree-sha1 = "8cc2a5f880e832ef5b0d222673a7fdd082f9c2fc" +git-tree-sha1 = "08d0b679fd7caa49e2bca9214b131289e19808c0" uuid = "ad839575-38b3-5650-b840-f874b8c74a25" -version = "0.12.4" +version = "0.12.5" [[Bzip2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -51,34 +56,70 @@ git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399" uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8" version = "0.1.1" +[[Cairo_jll]] +deps = ["Artifacts", "Bzip2_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"] +git-tree-sha1 = "e2f47f6d8337369411569fd45ae5753ca10394c6" +uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a" +version = "1.16.0+6" + +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" + [[Cassette]] -git-tree-sha1 = "9cc225870ec32ce7b9c773d4dcdaef32f622cf89" +git-tree-sha1 = "6ce3cd755d4130d43bab24ea5181e77b89b51839" uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.3.4" +version = "0.3.9" + +[[ChainRulesCore]] +deps = ["Compat", "LinearAlgebra", "SparseArrays"] +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" +uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" + +[[ColorSchemes]] +deps = ["ColorTypes", "Colors", "FixedPointNumbers", "Random"] +git-tree-sha1 = "6b6f04f93710c71550ec7e16b650c1b9a612d0b6" +uuid = "35d6a980-a343-548e-a6ea-1d62b119f2f4" +version = "3.16.0" [[ColorTypes]] deps = ["FixedPointNumbers", "Random"] -git-tree-sha1 = "7b62b728a5f3dd6ee3b23910303ccf27e82fad5e" +git-tree-sha1 = "32a2b8af383f11cbb65803883837a149d10dfe8a" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.8.1" +version = "0.10.12" [[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"] -git-tree-sha1 = "f465c8fb261367b2b6b01f9f30357df6bd658460" +deps = ["ColorTypes", "FixedPointNumbers", "Reexport"] +git-tree-sha1 = "417b0ed7b8b838aa6ca0a87aadf1bb9eb111ce40" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.10.2" +version = "0.12.8" [[Compat]] deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "919c7f3151e79ff196add81d7f4e45d91bbf420b" +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "3.25.0" +version = "3.41.0" + +[[CompilerSupportLibraries_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "8e695f735fca77e9708e795eda62afdb869cbb70" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.4+0" [[Conda]] -deps = ["JSON", "VersionParsing"] -git-tree-sha1 = "c0647249d785f1d5139c0cc96db8f6b32f7ec416" +deps = ["Downloads", "JSON", "VersionParsing"] +git-tree-sha1 = "6cdc8832ba11c7695f494c9d9a1c31e90959ce0f" uuid = "8f4d0f93-b110-5947-807f-2305c1781a2d" -version = "1.5.0" +version = "1.6.0" [[Contour]] deps = ["StaticArrays"] @@ -88,20 +129,20 @@ version = "0.5.7" [[CoordinateTransformations]] deps = ["LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "6d1c23e740a586955645500bbec662476204a52c" +git-tree-sha1 = "681ea870b918e7cff7111da58791d7f718067a19" uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.6.1" +version = "0.6.2" [[DataAPI]] -git-tree-sha1 = "dfb3b7e89e395be1e25c2ad6d7690dc29cc53b1d" +git-tree-sha1 = "cc70b17275652eb47bc9e5f81635981f13cea5c8" uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" -version = "1.6.0" +version = "1.9.0" [[DataStructures]] deps = ["Compat", "InteractiveUtils", "OrderedCollections"] -git-tree-sha1 = "4437b64df1e0adccc3e5d1adbc3ac741095e4677" +git-tree-sha1 = "3daef5523dd2e769dad2365274f760ff5f282c7d" uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -version = "0.18.9" +version = "0.18.11" [[DataValueInterfaces]] git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" @@ -121,16 +162,40 @@ deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[Downloads]] +deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] +git-tree-sha1 = "39e99578597b4b1660b63cdabd5224ba53e3e71a" +uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" +version = "1.6.0" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" + +[[EarCut_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "92d8f9f208637e8d2d28c664051a00569c01493d" +uuid = "5ae413db-bbd1-5e63-b57d-d24a61df00f5" +version = "2.1.5+1" + +[[Expat_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "1402e52fcda25064f51c77a9655ce8680b76acf0" +uuid = "2e619515-83b5-522b-bb60-26c02a35a201" +version = "2.2.7+6" [[FFMPEG]] deps = ["FFMPEG_jll"] -git-tree-sha1 = "c82bef6fc01e30d500f588cd01d29bdd44f1924e" +git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8" uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" -version = "0.3.0" +version = "0.4.1" [[FFMPEG_jll]] deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "LibVPX_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] @@ -142,9 +207,22 @@ version = "4.3.1+4" uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" [[FixedPointNumbers]] -git-tree-sha1 = "4aaea64dd0c30ad79037084f8ca2b94348e65eaa" +deps = ["Statistics"] +git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc" uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.7.1" +version = "0.8.4" + +[[Fontconfig_jll]] +deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "35895cf184ceaab11fd778b4590144034a167a2f" +uuid = "a3f928ae-7b40-5064-980b-68af3947d34b" +version = "2.13.1+14" + +[[Formatting]] +deps = ["Printf"] +git-tree-sha1 = "8339d61043228fdd3eb658d86c926cb282ae72a8" +uuid = "59287772-0a20-5a39-b81b-1366585eb4c0" +version = "0.4.2" [[FreeType2_jll]] deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"] @@ -164,28 +242,58 @@ git-tree-sha1 = "04cb9cfaa6ba5311973994fe3496ddec19b6292a" uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca" version = "0.5.0" +[[GLFW_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Libglvnd_jll", "Pkg", "Xorg_libXcursor_jll", "Xorg_libXi_jll", "Xorg_libXinerama_jll", "Xorg_libXrandr_jll"] +git-tree-sha1 = "a199aefead29c3c2638c3571a9993b564109d45a" +uuid = "0656b61e-2033-5cc2-a64a-77c0f6c09b89" +version = "3.3.4+0" + [[GR]] -deps = ["Base64", "DelimitedFiles", "LinearAlgebra", "Printf", "Random", "Serialization", "Sockets", "Test", "UUIDs"] -git-tree-sha1 = "7ea6f715b7caa10d7ee16f1cfcd12f3ccc74116a" +deps = ["Base64", "DelimitedFiles", "GR_jll", "HTTP", "JSON", "Libdl", "LinearAlgebra", "Pkg", "Printf", "Random", "Serialization", "Sockets", "Test", "UUIDs"] +git-tree-sha1 = "30f2b340c2fff8410d89bfcdc9c0a6dd661ac5f7" uuid = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71" -version = "0.48.0" +version = "0.62.1" + +[[GR_jll]] +deps = ["Artifacts", "Bzip2_jll", "Cairo_jll", "FFMPEG_jll", "Fontconfig_jll", "GLFW_jll", "JLLWrappers", "JpegTurbo_jll", "Libdl", "Libtiff_jll", "Pixman_jll", "Pkg", "Qt5Base_jll", "Zlib_jll", "libpng_jll"] +git-tree-sha1 = "d59e8320c2747553788e4fc42231489cc602fa50" +uuid = "d2c73de3-f751-5644-a686-071e5b155ba9" +version = "0.58.1+0" + +[[GeometryBasics]] +deps = ["EarCut_jll", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"] +git-tree-sha1 = "58bcdf5ebc057b085e58d95c138725628dd7453c" +uuid = "5c1252a2-5f33-56bf-86c9-59e7332b4326" +version = "0.4.1" [[GeometryTypes]] deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "78f0ce9d01993b637a8f28d84537d75dc0ce8eef" +git-tree-sha1 = "d796f7be0383b5416cd403420ce0af083b0f9b28" uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.7.10" +version = "0.8.5" + +[[Gettext_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "XML2_jll"] +git-tree-sha1 = "8c14294a079216000a0bdca5ec5a447f073ddc9d" +uuid = "78b55507-aeef-58d4-861c-77aaff3498b1" +version = "0.20.1+7" + +[[Glib_jll]] +deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "04690cc5008b38ecbdfede949220bc7d9ba26397" +uuid = "7746bdde-850d-59dc-9ae8-88ece973131d" +version = "2.59.0+4" [[Grisu]] -git-tree-sha1 = "03d381f65183cb2d0af8b3425fde97263ce9a995" +git-tree-sha1 = "53bb909d1151e57e2484c3d1b53e19552b887fb2" uuid = "42e2da0e-8278-4e71-bc24-59509adca0fe" -version = "1.0.0" +version = "1.0.2" [[HTTP]] -deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets", "URIs"] -git-tree-sha1 = "942c1a9c750bbe79912b7bd060a420932afd35b8" +deps = ["Base64", "Dates", "IniFile", "Logging", "MbedTLS", "NetworkOptions", "Sockets", "URIs"] +git-tree-sha1 = "0fa77022fe4b511826b39c894c90daf5fce3334a" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.9.3" +version = "0.9.17" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -201,19 +309,35 @@ version = "0.5.0" [[InteractBase]] deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"] -git-tree-sha1 = "e63b4726c282829617de0f57ce1e4e050702439a" +git-tree-sha1 = "caf189c84e1cc6512b71fea0ec60fa8fdc761d7b" uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009" -version = "0.10.6" +version = "0.10.7" [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] -deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "2b7d4e9be8b74f03115e64cf36ed2f48ae83d946" +deps = ["AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] +git-tree-sha1 = "b15fc0a95c564ca2e0a7ae12c1f095ca848ceb31" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.10" +version = "0.13.5" + +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" + +[[IterTools]] +git-tree-sha1 = "fa6287a4469f5e048d763df38279ee729fbd44e5" +uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e" +version = "1.4.0" [[IteratorInterfaceExtensions]] git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" @@ -221,27 +345,34 @@ uuid = "82899510-4779-5014-852e-03e436cf321d" version = "1.0.0" [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] -git-tree-sha1 = "829f37792c9a63904a95c3c579e3b5847b40802a" +git-tree-sha1 = "bd6c034156b1e7295450a219c4340e32e50b08b1" uuid = "97c1335a-c9c5-57fe-bc5d-ec35cebe8660" -version = "0.5.2" +version = "0.5.3" [[JSON]] deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4" +git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.1" +version = "0.21.2" + +[[JpegTurbo_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "9aff0587d9603ea0de2c6f6300d9f9492bbefbd3" +uuid = "aacddb02-875f-59d6-b918-886e6ef4fbf8" +version = "2.0.1+3" [[Knockout]] deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"] -git-tree-sha1 = "8b5552a7a9efc2b0565e2256c919651e6f4e7931" +git-tree-sha1 = "deb74017e1061d76050ff68d219217413be4ef59" uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc" -version = "0.2.4" +version = "0.2.5" [[LAME_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -249,10 +380,22 @@ git-tree-sha1 = "df381151e871f41ee86cee4f5f6fd598b8a68826" uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d" version = "3.100.0+3" +[[LZO_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "f128cd6cd05ffd6d3df0523ed99b90ff6f9b349a" +uuid = "dd4b983a-f0e5-5f8d-a1b7-129d4a5fb1ac" +version = "2.10.0+3" + [[LaTeXStrings]] -git-tree-sha1 = "c7aebfecb1a60d59c0fe023a68ec947a208b1e6b" +git-tree-sha1 = "f2355693d6778a178ade15952b7ac47a4ff97996" uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f" -version = "1.2.0" +version = "1.3.0" + +[[Latexify]] +deps = ["Formatting", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "Printf", "Requires"] +git-tree-sha1 = "a8f4f279b6fa3c3c4f1adadd78a621b13a506bce" +uuid = "23fbe1c1-3f47-55db-b15f-69d7ec21a316" +version = "0.15.9" [[Lazy]] deps = ["MacroTools"] @@ -260,10 +403,28 @@ git-tree-sha1 = "1370f8202dac30758f3c345f9909b97f53d87d3f" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" version = "0.15.1" +[[LibCURL]] +deps = ["LibCURL_jll", "MozillaCACerts_jll"] +git-tree-sha1 = "cdbe7465ab7b52358804713a53c7fe1dac3f8a3f" +uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21" +version = "0.6.3" + +[[LibCURL_jll]] +deps = ["LibSSH2_jll", "Libdl", "MbedTLS_jll", "Pkg", "Zlib_jll", "nghttp2_jll"] +git-tree-sha1 = "897d962c20031e6012bba7b3dcb7a667170dad17" +uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" +version = "7.70.0+2" + [[LibGit2]] deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +[[LibSSH2_jll]] +deps = ["Libdl", "MbedTLS_jll", "Pkg"] +git-tree-sha1 = "717705533148132e5466f2924b9a3657b16158e8" +uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8" +version = "1.9.0+3" + [[LibVPX_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "85fcc80c3052be96619affa2fe2e6d2da3908e11" @@ -273,11 +434,53 @@ version = "1.9.0+1" [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libffi_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "a2cd088a88c0d37eef7d209fd3d8712febce0d90" +uuid = "e9f186c6-92d2-5b65-8a66-fee21dc1b490" +version = "3.2.1+4" + +[[Libgcrypt_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll", "Pkg"] +git-tree-sha1 = "b391a18ab1170a2e568f9fb8d83bc7c780cb9999" +uuid = "d4300ac3-e22c-5743-9152-c294e39db1e4" +version = "1.8.5+4" + +[[Libglvnd_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll", "Xorg_libXext_jll"] +git-tree-sha1 = "7739f837d6447403596a75d19ed01fd08d6f56bf" +uuid = "7e76a0d4-f3c7-5321-8279-8d96eeed0f29" +version = "1.3.0+3" + +[[Libgpg_error_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "ec7f2e8ad5c9fa99fc773376cdbc86d9a5a23cb7" +uuid = "7add5ba3-2f88-524e-9cd5-f83b8a55f7b8" +version = "1.36.0+3" + [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" + +[[Libmount_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "51ad0c01c94c1ce48d5cad629425035ad030bfd5" +uuid = "4b2f31a3-9ecc-558c-b454-b3730dcb73e9" +version = "2.34.0+3" + +[[Libtiff_jll]] +deps = ["Artifacts", "JLLWrappers", "JpegTurbo_jll", "Libdl", "Pkg", "Zlib_jll", "Zstd_jll"] +git-tree-sha1 = "291dd857901f94d683973cdf679984cdf73b56d0" +uuid = "89763e89-9b03-5906-acba-b20f662cd828" +version = "4.1.0+2" + +[[Libuuid_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "f879ae9edbaa2c74c922e8b85bb83cc84ea1450b" +uuid = "38a345b3-de98-5d2b-a5d3-14cd9215e700" +version = "2.34.0+7" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -289,6 +492,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -300,9 +509,9 @@ version = "0.1.0" [[MacroTools]] deps = ["Markdown", "Random"] -git-tree-sha1 = "6a8a2a625ab0dea913aba95c11370589e0239ff0" +git-tree-sha1 = "3d3e902b31198a27340d0bf00d6ac452866021cf" uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" -version = "0.5.6" +version = "0.5.9" [[Markdown]] deps = ["Base64"] @@ -326,32 +535,38 @@ uuid = "442fdcdd-2543-5da2-b0f3-8c86c306513e" version = "0.3.1" [[MechanismGeometries]] -deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] -git-tree-sha1 = "86ab29ff501fe86e41962efa33433768a706c447" +deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] +git-tree-sha1 = "0b1c87463f24bd18a9685601e6bf6207cd051cdd" uuid = "931e9471-e8fb-5385-a477-07ad12718aca" -version = "0.5.0" +version = "0.7.1" [[MeshCat]] -deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "4ec09b64e9477aa0c8e82a5189a12d3dddd65faf" +deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Pkg", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] +git-tree-sha1 = "bd707ee5273b7778554b0b22b3071cf97f71e1f4" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.11.3" +version = "0.14.2" [[MeshCatMechanisms]] -deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "cbbbd5b996096c5e3bbe38bd01fca9816bc566b8" +deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] +git-tree-sha1 = "bfeadfb6a7229767ddf300575a7473d1fe89a80d" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.7.1" +version = "0.8.2" [[Missings]] deps = ["DataAPI"] -git-tree-sha1 = "f8c673ccc215eb50fcadb285f522420e29e69e1c" +git-tree-sha1 = "bf210ce90b6c9eed32d25dbcae1ebc565df2687f" uuid = "e1d29d7a-bbdc-5cf2-9ac0-f12de2c33e28" -version = "0.4.5" +version = "1.0.2" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +[[MozillaCACerts_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "f1662575f7bf53c73c2bbc763bace4b024de822c" +uuid = "14a3606d-f60d-562e-9121-12d972cd8159" +version = "2021.1.19+0" + [[MsgPack]] deps = ["Serialization"] git-tree-sha1 = "a8cbf066b54d793b9a48c5daa5d586cf2b5bd43d" @@ -360,31 +575,36 @@ version = "1.1.0" [[Mustache]] deps = ["Printf", "Tables"] -git-tree-sha1 = "36995ef0d532fe08119d70b2365b7b03d4e00f48" +git-tree-sha1 = "21d7a05c3b94bcf45af67beccab4f2a1f4a3c30a" uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" -version = "1.0.10" +version = "1.0.12" [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Pkg", "Sockets", "WebSockets"] -git-tree-sha1 = "2578b3cd03e4f568f213c7d51b2118f9e81c2617" +git-tree-sha1 = "82dfb2cead9895e10ee1b0ca37a01088456c4364" uuid = "a975b10e-0019-58db-a62f-e48ff68538c9" -version = "0.7.5" +version = "0.7.6" [[NaNMath]] -git-tree-sha1 = "bfe47e760d60b82b66b61d2d44128b62e3a369fb" +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" -version = "0.3.5" +version = "0.3.6" + +[[NetworkOptions]] +git-tree-sha1 = "ed3157f48a05543cce9b241e1f2815f7e843d96e" +uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" +version = "1.2.0" [[Observables]] -git-tree-sha1 = "3469ef96607a6b9a1e89e54e6f23401073ed3126" +git-tree-sha1 = "fe29afdef3d0c4a8286128d4e45cc50621b1e43d" uuid = "510215fc-4207-5dde-b226-833fc4488ee2" -version = "0.3.3" +version = "0.4.0" [[OffsetArrays]] deps = ["Adapt"] -git-tree-sha1 = "76622f08645764e040b4d7e86d0ff471fd126ae4" +git-tree-sha1 = "043017e0bdeff61cfbb7afeb558ab29536bbb5ed" uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881" -version = "1.5.3" +version = "1.10.8" [[Ogg_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -392,12 +612,24 @@ git-tree-sha1 = "a42c0f138b9ebe8b58eba2271c5053773bde52d0" uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051" version = "1.3.4+2" +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" + [[OpenSSL_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "71bbbc616a1d710879f5a1021bcba65ffba6ce58" uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" version = "1.1.1+6" +[[OpenSpecFun_jll]] +deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "9db77584158d0ab52307f8c04f8e7c08ca76b5b3" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+4" + [[Opus_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "f9d57f4126c39565e05a2b0264df99f497fc6f37" @@ -405,21 +637,27 @@ uuid = "91d4177d-7536-5919-b921-800302f37372" version = "1.3.1+3" [[OrderedCollections]] -git-tree-sha1 = "4fa2ba51070ec13fcc7517db714445b4ab986bdf" +git-tree-sha1 = "85f8e6578bf1f9ee0d11e7bb1b1456435479d47c" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.4.0" +version = "1.4.1" + +[[PCRE_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "1b556ad51dceefdbf30e86ffa8f528b73c7df2bb" +uuid = "2f80f16e-611a-54ab-bc61-aa92de5b98fc" +version = "8.42.0+4" [[Parameters]] deps = ["OrderedCollections", "UnPack"] -git-tree-sha1 = "2276ac65f1e236e0a6ea70baff3f62ad4c625345" +git-tree-sha1 = "34c0e9ad262e5f7fc75b10a9952ca7692cfc5fbe" uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.2" +version = "0.12.3" [[Parsers]] deps = ["Dates"] -git-tree-sha1 = "50c9a9ed8c714945e01cd53a21007ed3865ed714" +git-tree-sha1 = "92f91ba9e5941fc781fecf5494ac1da87bdac775" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.15" +version = "2.2.0" [[Pidfile]] deps = ["FileWatching", "Test"] @@ -427,27 +665,39 @@ git-tree-sha1 = "1be8660b2064893cd2dae4bd004b589278e4440d" uuid = "fa939f87-e72e-5be4-a000-7fc836dbe307" version = "1.2.0" +[[Pixman_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "6a20a83c1ae86416f0a5de605eaea08a552844a3" +uuid = "30392449-352a-5448-841d-b1acce4e97dc" +version = "0.40.0+0" + [[Pkg]] deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[PlotThemes]] deps = ["PlotUtils", "Requires", "Statistics"] -git-tree-sha1 = "87a4ea7f8c350d87d3a8ca9052663b633c0b2722" +git-tree-sha1 = "a3a964ce9dc7898193536002a6dd892b1b5a6f1d" uuid = "ccf2f8ad-2431-5c83-bf29-c5338b663b6a" -version = "1.0.3" +version = "2.0.1" [[PlotUtils]] -deps = ["Colors", "Dates", "Printf", "Random", "Reexport"] -git-tree-sha1 = "51e742162c97d35f714f9611619db6975e19384b" +deps = ["ColorSchemes", "Colors", "Dates", "Printf", "Random", "Reexport", "Statistics"] +git-tree-sha1 = "b084324b4af5a438cd63619fd006614b3b20b87b" uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043" -version = "0.6.5" +version = "1.0.15" [[Plots]] -deps = ["Base64", "Contour", "Dates", "FFMPEG", "FixedPointNumbers", "GR", "GeometryTypes", "JSON", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "Requires", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs"] -git-tree-sha1 = "484ade6d734feb43c06721c689155eb4aa3259f5" +deps = ["Base64", "Contour", "Dates", "Downloads", "FFMPEG", "FixedPointNumbers", "GR", "GeometryBasics", "JSON", "Latexify", "LinearAlgebra", "Measures", "NaNMath", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "Requires", "Scratch", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs", "UnicodeFun"] +git-tree-sha1 = "d73736030a094e8d24fdf3629ae980217bf1d59d" uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" -version = "1.0.14" +version = "1.24.3" + +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" [[Printf]] deps = ["Unicode"] @@ -455,15 +705,27 @@ uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" [[PyCall]] deps = ["Conda", "Dates", "Libdl", "LinearAlgebra", "MacroTools", "Serialization", "VersionParsing"] -git-tree-sha1 = "dd1a970b543bd02efce2984582e996af28cab27f" +git-tree-sha1 = "71fd4022ecd0c6d20180e23ff1b3e05a143959c2" uuid = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0" -version = "1.92.2" +version = "1.93.0" [[PyPlot]] deps = ["Colors", "LaTeXStrings", "PyCall", "Sockets", "Test", "VersionParsing"] -git-tree-sha1 = "67dde2482fe1a72ef62ed93f8c239f947638e5a2" +git-tree-sha1 = "14c1b795b9d764e1784713941e787e1384268103" uuid = "d330b81b-6aea-500a-939a-2ce795aea3ee" -version = "2.9.0" +version = "2.10.0" + +[[Qt5Base_jll]] +deps = ["Artifacts", "CompilerSupportLibraries_jll", "Fontconfig_jll", "Glib_jll", "JLLWrappers", "Libdl", "Libglvnd_jll", "OpenSSL_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libxcb_jll", "Xorg_xcb_util_image_jll", "Xorg_xcb_util_keysyms_jll", "Xorg_xcb_util_renderutil_jll", "Xorg_xcb_util_wm_jll", "Zlib_jll", "xkbcommon_jll"] +git-tree-sha1 = "16626cfabbf7206d60d84f2bf4725af7b37d4a77" +uuid = "ea2cea3b-5b76-57ae-a6ef-0a8af62496e1" +version = "5.15.2+0" + +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] @@ -474,48 +736,54 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[Ratios]] -git-tree-sha1 = "37d210f612d70f3f7d57d488cb3b6eff56ad4e41" +deps = ["Requires"] +git-tree-sha1 = "01d341f502250e81f6fec0afe662aa861392a3aa" uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439" -version = "0.4.0" +version = "0.4.2" [[RecipesBase]] -git-tree-sha1 = "b3fb709f3c97bfc6e948be68beeecb55a0b340ae" +git-tree-sha1 = "6bf3f380ff52ce0832ddd3a2a7b9538ed1bcca7d" uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -version = "1.1.1" +version = "1.2.1" [[RecipesPipeline]] deps = ["Dates", "NaNMath", "PlotUtils", "RecipesBase"] -git-tree-sha1 = "4a325c9bcc2d8e62a8f975b9666d0251d53b63b9" +git-tree-sha1 = "7ad0dfa8d03b7bcf8c597f59f5292801730c55b8" uuid = "01d81517-befc-4cb6-b9ec-a95719d0359c" -version = "0.1.13" +version = "0.4.1" [[Reexport]] -deps = ["Pkg"] -git-tree-sha1 = "7b1d07f411bc8ddb7977ec7f377b97b158514fe0" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "0.2.0" +version = "1.2.2" [[Requires]] deps = ["UUIDs"] -git-tree-sha1 = "cfbac6c1ed70c002ec6361e7fd334f02820d6419" +git-tree-sha1 = "838a3a4188e2ded87a4f9f184b4b0d78a1e91cb7" uuid = "ae029012-a4dd-5104-9daa-d747884805df" -version = "1.1.2" +version = "1.3.0" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.1" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" +[[Scratch]] +deps = ["Dates"] +git-tree-sha1 = "0b4b7f1393cff97c33891da2a0bf69c6ed241fda" +uuid = "6c6a2e73-6563-6170-7368-637461726353" +version = "1.1.0" + [[Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" @@ -525,50 +793,73 @@ uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" [[Showoff]] deps = ["Dates", "Grisu"] -git-tree-sha1 = "ee010d8f103468309b8afac4abb9be2e18ff1182" +git-tree-sha1 = "91eddf657aca81df9ae6ceb20b959ae5653ad1de" uuid = "992d4aef-0814-514b-bc4d-f2e9a6c4116f" -version = "0.3.2" +version = "1.0.3" [[Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" [[SortingAlgorithms]] -deps = ["DataStructures", "Random", "Test"] -git-tree-sha1 = "03f5898c9959f8115e30bc7226ada7d0df554ddd" +deps = ["DataStructures"] +git-tree-sha1 = "b3363d7460f7d098ca0912c69b082f75625d7508" uuid = "a2af1166-a08f-5f64-846c-94a0d3cef48c" -version = "0.3.1" +version = "1.0.1" [[SparseArrays]] deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +[[SpecialFunctions]] +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" +uuid = "276daf66-3868-5448-9aa4-cd146d93841b" +version = "2.0.0" + [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "da4cf579416c81994afd6322365d00916c79b8ae" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.5" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[StatsAPI]] +git-tree-sha1 = "d88665adc9bcf45903013af0982e2fd05ae3d0a6" +uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0" +version = "1.2.0" + [[StatsBase]] -deps = ["DataAPI", "DataStructures", "LinearAlgebra", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics"] -git-tree-sha1 = "400aa43f7de43aeccc5b2e39a76a79d262202b76" +deps = ["DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"] +git-tree-sha1 = "51383f2d367eb3b444c961d485c565e4c0cf4ba0" uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91" -version = "0.33.3" +version = "0.33.14" + +[[StructArrays]] +deps = ["Adapt", "DataAPI", "StaticArrays", "Tables"] +git-tree-sha1 = "2ce41e0d042c60ecd131e9fb7154a3bfadbf50d3" +uuid = "09ab397b-f2b6-538f-b94a-2f83cf4a842a" +version = "0.6.3" + +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" [[TableTraits]] deps = ["IteratorInterfaceExtensions"] -git-tree-sha1 = "b1ad568ba658d8cbb3b892ed5380a6f3e781a81e" +git-tree-sha1 = "c06b2f539df1c6efa794486abfb6ed2022561a39" uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c" -version = "1.0.0" +version = "1.0.1" [[Tables]] deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] -git-tree-sha1 = "a716dde43d57fa537a19058d044b495301ba6565" +git-tree-sha1 = "bb1064c9a84c52e277f1096cf41434b675cd368b" uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" -version = "1.3.2" +version = "1.6.1" [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] @@ -586,9 +877,9 @@ uuid = "30578b45-9adc-5946-b283-645ec420af67" version = "0.4.1" [[URIs]] -git-tree-sha1 = "7855809b88d7b16e9b029afd17880930626f54a2" +git-tree-sha1 = "97bbe755a53fe859669cd907f2d96aee8d2c1355" uuid = "5c2747f8-b7ea-4ff2-ba2e-563bfd36b1d4" -version = "1.2.0" +version = "1.3.0" [[UUIDs]] deps = ["Random", "SHA"] @@ -602,21 +893,39 @@ version = "1.0.2" [[Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" +[[UnicodeFun]] +deps = ["REPL"] +git-tree-sha1 = "53915e50200959667e78a92a418594b428dffddf" +uuid = "1cfade01-22cf-5700-b092-accc4b62d6e1" +version = "0.4.1" + [[UnsafeArrays]] -git-tree-sha1 = "be71ca7d62a9d61ecaa20e2d0e1920b791623626" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.2" +version = "1.0.3" [[VersionParsing]] -git-tree-sha1 = "80229be1f670524750d905f8fc8148e5a8c4537f" +git-tree-sha1 = "e575cf85535c7c3292b4d89d89cc29e8c3098e47" uuid = "81def892-9a0e-5fdd-b105-ffc91e053289" -version = "1.2.0" +version = "1.2.1" + +[[Wayland_jll]] +deps = ["Artifacts", "Expat_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg", "XML2_jll"] +git-tree-sha1 = "dc643a9b774da1c2781413fd7b6dcd2c56bb8056" +uuid = "a2964d1f-97da-50d4-b82a-358c7fce9d89" +version = "1.17.0+4" + +[[Wayland_protocols_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "66d72dc6fcc86352f01676e8f0f698562e60510f" +uuid = "2381bf8a-dfd0-557d-9999-79630e7b1b91" +version = "1.23.0+0" [[WebIO]] deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] -git-tree-sha1 = "adc25e225bc334c7df6eec3b39496edfc451cc38" +git-tree-sha1 = "5fe32e4086d49f7ab9b087296742859f3ae6d62a" uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29" -version = "0.8.15" +version = "0.8.16" [[WebSockets]] deps = ["Base64", "Dates", "HTTP", "Logging", "Sockets"] @@ -626,15 +935,15 @@ version = "1.5.9" [[Widgets]] deps = ["Colors", "Dates", "Observables", "OrderedCollections"] -git-tree-sha1 = "fc0feda91b3fef7fe6948ee09bb628f882b49ca4" +git-tree-sha1 = "80661f59d28714632132c73779f8becc19a113f2" uuid = "cc8bc4a8-27d6-5769-a93b-9d913e69aa62" -version = "0.6.2" +version = "0.6.4" [[WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "59e2ad8fd1591ea019a5259bd012d7aee15f995c" +git-tree-sha1 = "de67fa59e33ad156a590055375a30b23c40299d3" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.3" +version = "0.5.5" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] @@ -642,12 +951,150 @@ git-tree-sha1 = "be0db24f70aae7e2b89f2f3092e93b8606d659a6" uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" version = "2.9.10+3" +[[XSLT_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Pkg", "XML2_jll"] +git-tree-sha1 = "2b3eac39df218762d2d005702d601cd44c997497" +uuid = "aed1982a-8fda-507f-9586-7b0439959a61" +version = "1.1.33+4" + +[[Xorg_libX11_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxcb_jll", "Xorg_xtrans_jll"] +git-tree-sha1 = "5be649d550f3f4b95308bf0183b82e2582876527" +uuid = "4f6342f7-b3d2-589e-9d20-edeb45f2b2bc" +version = "1.6.9+4" + +[[Xorg_libXau_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "4e490d5c960c314f33885790ed410ff3a94ce67e" +uuid = "0c0b7dd1-d40b-584c-a123-a41640f87eec" +version = "1.0.9+4" + +[[Xorg_libXcursor_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libXfixes_jll", "Xorg_libXrender_jll"] +git-tree-sha1 = "12e0eb3bc634fa2080c1c37fccf56f7c22989afd" +uuid = "935fb764-8cf2-53bf-bb30-45bb1f8bf724" +version = "1.2.0+4" + +[[Xorg_libXdmcp_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "4fe47bd2247248125c428978740e18a681372dd4" +uuid = "a3789734-cfe1-5b06-b2d0-1dd0d9d62d05" +version = "1.1.3+4" + +[[Xorg_libXext_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"] +git-tree-sha1 = "b7c0aa8c376b31e4852b360222848637f481f8c3" +uuid = "1082639a-0dae-5f34-9b06-72781eeb8cb3" +version = "1.3.4+4" + +[[Xorg_libXfixes_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"] +git-tree-sha1 = "0e0dc7431e7a0587559f9294aeec269471c991a4" +uuid = "d091e8ba-531a-589c-9de9-94069b037ed8" +version = "5.0.3+4" + +[[Xorg_libXi_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libXext_jll", "Xorg_libXfixes_jll"] +git-tree-sha1 = "89b52bc2160aadc84d707093930ef0bffa641246" +uuid = "a51aa0fd-4e3c-5386-b890-e753decda492" +version = "1.7.10+4" + +[[Xorg_libXinerama_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libXext_jll"] +git-tree-sha1 = "26be8b1c342929259317d8b9f7b53bf2bb73b123" +uuid = "d1454406-59df-5ea1-beac-c340f2130bc3" +version = "1.1.4+4" + +[[Xorg_libXrandr_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll"] +git-tree-sha1 = "34cea83cb726fb58f325887bf0612c6b3fb17631" +uuid = "ec84b674-ba8e-5d96-8ba1-2a689ba10484" +version = "1.5.2+4" + +[[Xorg_libXrender_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"] +git-tree-sha1 = "19560f30fd49f4d4efbe7002a1037f8c43d43b96" +uuid = "ea2f1a96-1ddc-540d-b46f-429655e07cfa" +version = "0.9.10+4" + +[[Xorg_libpthread_stubs_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "6783737e45d3c59a4a4c4091f5f88cdcf0908cbb" +uuid = "14d82f49-176c-5ed1-bb49-ad3f5cbd8c74" +version = "0.1.0+3" + +[[Xorg_libxcb_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"] +git-tree-sha1 = "daf17f441228e7a3833846cd048892861cff16d6" +uuid = "c7cfdc94-dc32-55de-ac96-5a1b8d977c5b" +version = "1.13.0+3" + +[[Xorg_libxkbfile_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"] +git-tree-sha1 = "926af861744212db0eb001d9e40b5d16292080b2" +uuid = "cc61e674-0454-545c-8b26-ed2c68acab7a" +version = "1.1.0+4" + +[[Xorg_xcb_util_image_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"] +git-tree-sha1 = "0fab0a40349ba1cba2c1da699243396ff8e94b97" +uuid = "12413925-8142-5f55-bb0e-6d7ca50bb09b" +version = "0.4.0+1" + +[[Xorg_xcb_util_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxcb_jll"] +git-tree-sha1 = "e7fd7b2881fa2eaa72717420894d3938177862d1" +uuid = "2def613f-5ad1-5310-b15b-b15d46f528f5" +version = "0.4.0+1" + +[[Xorg_xcb_util_keysyms_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"] +git-tree-sha1 = "d1151e2c45a544f32441a567d1690e701ec89b00" +uuid = "975044d2-76e6-5fbe-bf08-97ce7c6574c7" +version = "0.4.0+1" + +[[Xorg_xcb_util_renderutil_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"] +git-tree-sha1 = "dfd7a8f38d4613b6a575253b3174dd991ca6183e" +uuid = "0d47668e-0667-5a69-a72c-f761630bfb7e" +version = "0.3.9+1" + +[[Xorg_xcb_util_wm_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"] +git-tree-sha1 = "e78d10aab01a4a154142c5006ed44fd9e8e31b67" +uuid = "c22f9ab0-d5fe-5066-847c-f4bb1cd4e361" +version = "0.4.1+1" + +[[Xorg_xkbcomp_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxkbfile_jll"] +git-tree-sha1 = "4bcbf660f6c2e714f87e960a171b119d06ee163b" +uuid = "35661453-b289-5fab-8a00-3d9160c6a3a4" +version = "1.4.2+4" + +[[Xorg_xkeyboard_config_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xkbcomp_jll"] +git-tree-sha1 = "5c8424f8a67c3f2209646d4425f3d415fee5931d" +uuid = "33bec58e-1273-512f-9401-5d533626f822" +version = "2.27.0+4" + +[[Xorg_xtrans_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "79c31e7844f6ecf779705fbc12146eb190b7d845" +uuid = "c5fb5394-a638-5e4d-96e5-b29de1b5cf10" +version = "1.4.0+3" + [[Zlib_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "320228915c8debb12cb434c59057290f0834dbf6" uuid = "83775a58-1f1d-513f-b197-d71354ab007a" version = "1.2.11+18" +[[Zstd_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "2c1332c54931e83f8f94d310fa447fd743e8d600" +uuid = "3161d3a3-bdf6-5164-811a-617609db77b4" +version = "1.4.8+0" + [[libass_jll]] deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"] git-tree-sha1 = "acc685bcf777b2202a904cdcb49ad34c2fa1880c" @@ -660,12 +1107,24 @@ git-tree-sha1 = "7a5780a0d9c6864184b3a2eeeb833a0c871f00ab" uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280" version = "0.1.6+4" +[[libpng_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "6abbc424248097d69c0c87ba50fcb0753f93e0ee" +uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f" +version = "1.6.37+6" + [[libvorbis_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"] git-tree-sha1 = "fa14ac25af7a4b8a7f61b287a124df7aab601bcd" uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a" version = "1.3.6+6" +[[nghttp2_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "8e2c44ab4d49ad9518f359ed8b62f83ba8beede4" +uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" +version = "1.40.0+2" + [[x264_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "d713c1ce4deac133e3334ee12f4adff07f81778f" @@ -677,3 +1136,9 @@ deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "487da2f8f2f0c8ee0e83f39d13037d6bbf0a45ab" uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76" version = "3.0.0+3" + +[[xkbcommon_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Wayland_jll", "Wayland_protocols_jll", "Xorg_libxcb_jll", "Xorg_xkeyboard_config_jll"] +git-tree-sha1 = "ece2350174195bb31de1a63bea3a41ae1aa593b6" +uuid = "d8fb68d0-12a3-5cfd-a85a-d49703b185fd" +version = "0.9.1+5" diff --git a/examples/4. Jacobian IK and Control/Project.toml b/examples/4. Jacobian IK and Control/Project.toml index 9276ae22..9d047db5 100644 --- a/examples/4. Jacobian IK and Control/Project.toml +++ b/examples/4. Jacobian IK and Control/Project.toml @@ -9,4 +9,4 @@ RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" [compat] -MeshCat = "0.10, 0.11" +MeshCat = "0.10, 0.11, 0.14" diff --git a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml index fcbb1efb..9d1db158 100644 --- a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml +++ b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml @@ -10,16 +10,28 @@ version = "1.3.0" uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" [[BenchmarkTools]] -deps = ["JSON", "Logging", "Printf", "Statistics", "UUIDs"] -git-tree-sha1 = "9e62e66db34540a0c919d72172cc2f642ac71260" +deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"] +git-tree-sha1 = "940001114a0147b6e4d10624276d56d531dd9b49" uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf" -version = "0.5.0" +version = "1.2.2" + +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" [[ChainRulesCore]] deps = ["Compat", "LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "53fed426c9af1eb68e63b3999e96454c2db79757" +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" -version = "0.9.27" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" [[CommonSubexpressions]] deps = ["MacroTools", "Test"] @@ -29,9 +41,9 @@ version = "0.3.0" [[Compat]] deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "919c7f3151e79ff196add81d7f4e45d91bbf420b" +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "3.25.0" +version = "3.41.0" [[CompilerSupportLibraries_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -54,41 +66,59 @@ uuid = "163ba53b-c6d8-5494-b064-1a9d43ac40c5" version = "1.0.3" [[DiffRules]] -deps = ["NaNMath", "Random", "SpecialFunctions"] -git-tree-sha1 = "214c3fcac57755cfda163d91c58893a8723f93e9" +deps = ["LogExpFunctions", "NaNMath", "Random", "SpecialFunctions"] +git-tree-sha1 = "9bc5dac3c8b6706b58ad5ce24cffd9861f07c94f" uuid = "b552c78f-8df3-52c6-915a-8e097449b14b" -version = "1.0.2" +version = "1.9.0" [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" [[ForwardDiff]] -deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "NaNMath", "Random", "SpecialFunctions", "StaticArrays"] -git-tree-sha1 = "c26b56e9b9f0687f7ca887f6b6ded03d269e0e35" +deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions", "StaticArrays"] +git-tree-sha1 = "2b72a5624e289ee18256111657663721d59c143e" uuid = "f6369f11-7733-5829-9624-2563aa707210" -version = "0.10.15" +version = "0.10.24" [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" + [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[JSON]] deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4" +git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.1" +version = "0.21.2" [[LibGit2]] deps = ["Printf"] @@ -99,9 +129,9 @@ uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -113,6 +143,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -124,9 +160,9 @@ version = "0.1.0" [[MacroTools]] deps = ["Markdown", "Random"] -git-tree-sha1 = "6a8a2a625ab0dea913aba95c11370589e0239ff0" +git-tree-sha1 = "3d3e902b31198a27340d0bf00d6ac452866021cf" uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" -version = "0.5.6" +version = "0.5.9" [[Markdown]] deps = ["Base64"] @@ -136,9 +172,15 @@ uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" uuid = "a63ad114-7e13-5084-954f-fe012c677804" [[NaNMath]] -git-tree-sha1 = "bfe47e760d60b82b66b61d2d44128b62e3a369fb" +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" -version = "0.3.5" +version = "0.3.6" + +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" [[OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] @@ -148,18 +190,34 @@ version = "0.5.3+4" [[Parsers]] deps = ["Dates"] -git-tree-sha1 = "50c9a9ed8c714945e01cd53a21007ed3865ed714" +git-tree-sha1 = "92f91ba9e5941fc781fecf5494ac1da87bdac775" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.15" +version = "2.2.0" [[Pkg]] deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" + [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +[[Profile]] +deps = ["Printf"] +uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79" + +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" + [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" @@ -169,21 +227,21 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[Reexport]] -git-tree-sha1 = "57d8440b0c7d98fc4f889e478e80f268d534c9d5" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "1.0.0" +version = "1.2.2" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.0" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -203,21 +261,27 @@ deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[SpecialFunctions]] -deps = ["ChainRulesCore", "OpenSpecFun_jll"] -git-tree-sha1 = "75394dbe2bd346beeed750fb02baa6445487b862" +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "1.2.1" +version = "2.0.0" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "9da72ed50e94dbff92036da395275ed114e04d49" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "1.0.1" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" + [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" @@ -235,9 +299,9 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.1" +version = "1.0.3" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] diff --git a/examples/6. Symbolics using SymPy/6. Symbolics using SymPy.jl b/examples/6. Symbolics using SymPy/6. Symbolics using SymPy.jl index 235e43a5..11ae6a1f 100644 --- a/examples/6. Symbolics using SymPy/6. Symbolics using SymPy.jl +++ b/examples/6. Symbolics using SymPy/6. Symbolics using SymPy.jl @@ -21,9 +21,9 @@ using SymPy # * Center of mass locations (w.r.t. preceding joint axis): $c_1, c_2$ # * Gravitational acceleration: $g$ -inertias = @syms m_1 m_2 I_1 I_2 positive = true -lengths = @syms l_1 l_2 c_1 c_2 real = true -gravitational_acceleration = @syms g real = true +inertias = @vars m_1 m_2 I_1 I_2 positive = true +lengths = @vars l_1 l_2 c_1 c_2 real = true +gravitational_acceleration = @vars g real = true params = [inertias..., lengths..., gravitational_acceleration...] transpose(params) diff --git a/examples/6. Symbolics using SymPy/Manifest.toml b/examples/6. Symbolics using SymPy/Manifest.toml index f6880ed6..6af60330 100644 --- a/examples/6. Symbolics using SymPy/Manifest.toml +++ b/examples/6. Symbolics using SymPy/Manifest.toml @@ -1,5 +1,10 @@ # This file is machine-generated - editing it directly is not advised +[[ArgTools]] +git-tree-sha1 = "bdf73eec6a88885256f282d48eafcad25d7de494" +uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" +version = "1.1.1" + [[Artifacts]] deps = ["Pkg"] git-tree-sha1 = "c30985d8821e0cd73870b17b0ed0ce6dc44cb744" @@ -9,17 +14,39 @@ version = "1.3.0" [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" + [[ChainRulesCore]] deps = ["Compat", "LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "53fed426c9af1eb68e63b3999e96454c2db79757" +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" -version = "0.9.27" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" + +[[CommonEq]] +git-tree-sha1 = "d1beba82ceee6dc0fce8cb6b80bf600bbde66381" +uuid = "3709ef60-1bee-4518-9f2f-acd86f176c50" +version = "0.2.0" + +[[CommonSolve]] +git-tree-sha1 = "68a0743f578349ada8bc911a5cbd5a2ef6ed6d1f" +uuid = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2" +version = "0.2.0" [[Compat]] deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "919c7f3151e79ff196add81d7f4e45d91bbf420b" +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "3.25.0" +version = "3.41.0" [[CompilerSupportLibraries_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] @@ -28,10 +55,10 @@ uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" version = "0.3.4+0" [[Conda]] -deps = ["JSON", "VersionParsing"] -git-tree-sha1 = "c0647249d785f1d5139c0cc96db8f6b32f7ec416" +deps = ["Downloads", "JSON", "VersionParsing"] +git-tree-sha1 = "6cdc8832ba11c7695f494c9d9a1c31e90959ce0f" uuid = "8f4d0f93-b110-5947-807f-2305c1781a2d" -version = "1.5.0" +version = "1.6.0" [[Dates]] deps = ["Printf"] @@ -46,38 +73,100 @@ deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[Downloads]] +deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"] +git-tree-sha1 = "39e99578597b4b1660b63cdabd5224ba53e3e71a" +uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6" +version = "1.6.0" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" + +[[FileWatching]] +uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" + +[[Formatting]] +deps = ["Printf"] +git-tree-sha1 = "8339d61043228fdd3eb658d86c926cb282ae72a8" +uuid = "59287772-0a20-5a39-b81b-1366585eb4c0" +version = "0.4.2" [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" + [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[JSON]] deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4" +git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.1" +version = "0.21.2" + +[[LaTeXStrings]] +git-tree-sha1 = "f2355693d6778a178ade15952b7ac47a4ff97996" +uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f" +version = "1.3.0" + +[[Latexify]] +deps = ["Formatting", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "Printf", "Requires"] +git-tree-sha1 = "a8f4f279b6fa3c3c4f1adadd78a621b13a506bce" +uuid = "23fbe1c1-3f47-55db-b15f-69d7ec21a316" +version = "0.15.9" + +[[LibCURL]] +deps = ["LibCURL_jll", "MozillaCACerts_jll"] +git-tree-sha1 = "cdbe7465ab7b52358804713a53c7fe1dac3f8a3f" +uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21" +version = "0.6.3" + +[[LibCURL_jll]] +deps = ["LibSSH2_jll", "Libdl", "MbedTLS_jll", "Pkg", "Zlib_jll", "nghttp2_jll"] +git-tree-sha1 = "897d962c20031e6012bba7b3dcb7a667170dad17" +uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0" +version = "7.70.0+2" [[LibGit2]] deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +[[LibSSH2_jll]] +deps = ["Libdl", "MbedTLS_jll", "Pkg"] +git-tree-sha1 = "717705533148132e5466f2924b9a3657b16158e8" +uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8" +version = "1.9.0+3" + [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -89,6 +178,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -100,17 +195,45 @@ version = "0.1.0" [[MacroTools]] deps = ["Markdown", "Random"] -git-tree-sha1 = "6a8a2a625ab0dea913aba95c11370589e0239ff0" +git-tree-sha1 = "3d3e902b31198a27340d0bf00d6ac452866021cf" uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" -version = "0.5.6" +version = "0.5.9" [[Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +[[MbedTLS_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "0eef589dd1c26a3ac9d753fe1a8bcad63f956fa6" +uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" +version = "2.16.8+1" + [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +[[MozillaCACerts_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "f1662575f7bf53c73c2bbc763bace4b024de822c" +uuid = "14a3606d-f60d-562e-9121-12d972cd8159" +version = "2021.1.19+0" + +[[NaNMath]] +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" +uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" +version = "0.3.6" + +[[NetworkOptions]] +git-tree-sha1 = "ed3157f48a05543cce9b241e1f2815f7e843d96e" +uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" +version = "1.2.0" + +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" + [[OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "9db77584158d0ab52307f8c04f8e7c08ca76b5b3" @@ -119,23 +242,35 @@ version = "0.5.3+4" [[Parsers]] deps = ["Dates"] -git-tree-sha1 = "50c9a9ed8c714945e01cd53a21007ed3865ed714" +git-tree-sha1 = "92f91ba9e5941fc781fecf5494ac1da87bdac775" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.15" +version = "2.2.0" [[Pkg]] deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" + [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" [[PyCall]] deps = ["Conda", "Dates", "Libdl", "LinearAlgebra", "MacroTools", "Serialization", "VersionParsing"] -git-tree-sha1 = "dd1a970b543bd02efce2984582e996af28cab27f" +git-tree-sha1 = "71fd4022ecd0c6d20180e23ff1b3e05a143959c2" uuid = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0" -version = "1.92.2" +version = "1.93.0" + +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] @@ -146,26 +281,32 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[RecipesBase]] -git-tree-sha1 = "b3fb709f3c97bfc6e948be68beeecb55a0b340ae" +git-tree-sha1 = "6bf3f380ff52ce0832ddd3a2a7b9538ed1bcca7d" uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -version = "1.1.1" +version = "1.2.1" [[Reexport]] -git-tree-sha1 = "57d8440b0c7d98fc4f889e478e80f268d534c9d5" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "1.0.0" +version = "1.2.2" + +[[Requires]] +deps = ["UUIDs"] +git-tree-sha1 = "838a3a4188e2ded87a4f9f184b4b0d78a1e91cb7" +uuid = "ae029012-a4dd-5104-9daa-d747884805df" +version = "1.3.0" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.0" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -185,26 +326,32 @@ deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[SpecialFunctions]] -deps = ["ChainRulesCore", "OpenSpecFun_jll"] -git-tree-sha1 = "75394dbe2bd346beeed750fb02baa6445487b862" +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "1.2.1" +version = "2.0.0" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "9da72ed50e94dbff92036da395275ed114e04d49" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "1.0.1" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" [[SymPy]] -deps = ["LinearAlgebra", "Markdown", "PyCall", "RecipesBase", "SpecialFunctions"] -git-tree-sha1 = "0e10975ceb50fa70e625b4b6db30bfd1a22f8710" +deps = ["CommonEq", "CommonSolve", "Latexify", "LinearAlgebra", "Markdown", "PyCall", "RecipesBase", "SpecialFunctions"] +git-tree-sha1 = "8f8d948ed59ae681551d184b93a256d0d5dd4eae" uuid = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6" -version = "1.0.38" +version = "1.1.2" + +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] @@ -223,14 +370,14 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.1" +version = "1.0.3" [[VersionParsing]] -git-tree-sha1 = "80229be1f670524750d905f8fc8148e5a8c4537f" +git-tree-sha1 = "e575cf85535c7c3292b4d89d89cc29e8c3098e47" uuid = "81def892-9a0e-5fdd-b105-ffc91e053289" -version = "1.2.0" +version = "1.2.1" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] @@ -243,3 +390,9 @@ deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "320228915c8debb12cb434c59057290f0834dbf6" uuid = "83775a58-1f1d-513f-b197-d71354ab007a" version = "1.2.11+18" + +[[nghttp2_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "8e2c44ab4d49ad9518f359ed8b62f83ba8beede4" +uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" +version = "1.40.0+2" diff --git a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml index fa8d5f8b..7c9863f9 100644 --- a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml +++ b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml @@ -15,19 +15,59 @@ git-tree-sha1 = "9d1c22cff9c04207f336b8e64840d0bd40d86e0e" uuid = "96374032-68de-5a5b-8d9e-752f78720389" version = "0.8.0" +[[Calculus]] +deps = ["LinearAlgebra"] +git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad" +uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9" +version = "0.5.1" + +[[ChainRulesCore]] +deps = ["Compat", "LinearAlgebra", "SparseArrays"] +git-tree-sha1 = "926870acb6cbcf029396f2f2de030282b6bc1941" +uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" +version = "1.11.4" + +[[ChangesOfVariables]] +deps = ["ChainRulesCore", "LinearAlgebra", "Test"] +git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" +uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" +version = "0.1.2" + +[[Compat]] +deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] +git-tree-sha1 = "44c37b4636bc54afac5c574d2d02b625349d6582" +uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" +version = "3.41.0" + +[[CompilerSupportLibraries_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "8e695f735fca77e9708e795eda62afdb869cbb70" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.4+0" + [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +[[DelimitedFiles]] +deps = ["Mmap"] +uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" + [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" [[DocStringExtensions]] -deps = ["LibGit2", "Markdown", "Pkg", "Test"] -git-tree-sha1 = "50ddf44c53698f5e784bbebb3f4b21c5807401b1" +deps = ["LibGit2"] +git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b" uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" -version = "0.8.3" +version = "0.8.6" + +[[DualNumbers]] +deps = ["Calculus", "NaNMath", "SpecialFunctions"] +git-tree-sha1 = "84f04fe68a3176a583b864e492578b9466d87f1e" +uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74" +version = "0.6.6" [[ErrorfreeArithmetic]] git-tree-sha1 = "d6863c556f1142a061532e79f611aa46be201686" @@ -46,14 +86,26 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[IntervalArithmetic]] deps = ["CRlibm", "FastRounding", "LinearAlgebra", "Markdown", "Random", "RecipesBase", "RoundingEmulator", "SetRounding", "StaticArrays"] -git-tree-sha1 = "c550c0477cd137e266f56c5a4daeaf953b7d3208" +git-tree-sha1 = "c2879b504afa38441d5e93e646d401ab03179012" uuid = "d1acc4aa-44c8-5952-acd4-ba5d80a2a253" -version = "0.17.7" +version = "0.20.2" + +[[InverseFunctions]] +deps = ["Test"] +git-tree-sha1 = "a7254c0acd8e62f1ac75ad24d5db43f5f19f3c65" +uuid = "3587e190-3f89-42d0-90ee-14403ec27112" +version = "0.1.2" + +[[IrrationalConstants]] +git-tree-sha1 = "7fd44fd4ff43fc60815f8e764c0f352b83c49151" +uuid = "92d709cd-6900-40b7-9082-c6be49f344b6" +version = "0.1.1" [[JLLWrappers]] -git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0" +deps = ["Preferences"] +git-tree-sha1 = "22df5b96feef82434b07327e2d3c770a9b21e023" uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210" -version = "1.2.0" +version = "1.4.0" [[LibGit2]] deps = ["Printf"] @@ -64,9 +116,9 @@ uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[Libiconv_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f" +git-tree-sha1 = "cba7b560fcc00f8cd770fa85a498cbc1d63ff618" uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" -version = "1.16.0+7" +version = "1.16.0+8" [[LightXML]] deps = ["Libdl", "XML2_jll"] @@ -78,6 +130,12 @@ version = "0.9.0" deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +[[LogExpFunctions]] +deps = ["ChainRulesCore", "ChangesOfVariables", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] +git-tree-sha1 = "e5718a00af0ab9756305a0392832c8952c7426c1" +uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" +version = "0.3.6" + [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -91,14 +149,46 @@ version = "0.1.0" deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" +[[Mmap]] +uuid = "a63ad114-7e13-5084-954f-fe012c677804" + +[[NaNMath]] +git-tree-sha1 = "f755f36b19a5116bb580de457cda0c140153f283" +uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" +version = "0.3.6" + +[[OpenLibm_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d22054f66695fe580009c09e765175cbf7f13031" +uuid = "05823500-19ac-5b8b-9628-191a04bc5112" +version = "0.7.1+0" + +[[OpenSpecFun_jll]] +deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] +git-tree-sha1 = "9db77584158d0ab52307f8c04f8e7c08ca76b5b3" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+4" + [[Pkg]] deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" +[[Preferences]] +deps = ["TOML"] +git-tree-sha1 = "2cf929d64681236a2e074ffafb8d568733d2e6af" +uuid = "21216c6a-2e73-6563-6e65-726566657250" +version = "1.2.3" + [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" +[[Quaternions]] +deps = ["DualNumbers", "LinearAlgebra"] +git-tree-sha1 = "adf644ef95a5e26c8774890a509a55b7791a139f" +uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0" +version = "0.4.2" + [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" @@ -108,26 +198,26 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[RecipesBase]] -git-tree-sha1 = "b3fb709f3c97bfc6e948be68beeecb55a0b340ae" +git-tree-sha1 = "6bf3f380ff52ce0832ddd3a2a7b9538ed1bcca7d" uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -version = "1.1.1" +version = "1.2.1" [[Reexport]] -git-tree-sha1 = "57d8440b0c7d98fc4f889e478e80f268d534c9d5" +git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" -version = "1.0.0" +version = "1.2.2" [[RigidBodyDynamics]] deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"] -path = "../.." +git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b" uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172" -version = "2.3.0" +version = "2.3.2" [[Rotations]] -deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "2ed8d8a16d703f900168822d83699b8c3c1a5cd8" +deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"] +git-tree-sha1 = "2fa87d198bc5356c649b92109ed3ce46ee1eb89d" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.2" +version = "1.1.1" [[RoundingEmulator]] git-tree-sha1 = "40b9edad2e5287e05bd413a38f61a8ff55b9557b" @@ -141,10 +231,13 @@ uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" [[SetRounding]] -deps = ["Test"] -git-tree-sha1 = "faca28c7937138d560ede5bfef2076d0cdf3584b" +git-tree-sha1 = "d7a25e439d07a17b7cdf97eecee504c50fedf5f6" uuid = "3cc68bcd-71a2-5612-b932-767ffbe40ab0" -version = "0.2.0" +version = "0.2.1" + +[[SharedArrays]] +deps = ["Distributed", "Mmap", "Random", "Serialization"] +uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" [[Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" @@ -153,16 +246,28 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc" deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" +[[SpecialFunctions]] +deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] +git-tree-sha1 = "e08890d19787ec25029113e88c34ec20cac1c91e" +uuid = "276daf66-3868-5448-9aa4-cd146d93841b" +version = "2.0.0" + [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "9da72ed50e94dbff92036da395275ed114e04d49" +git-tree-sha1 = "2ae4fe21e97cd13efd857462c1869b73c9f61be3" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "1.0.1" +version = "1.3.2" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[TOML]] +deps = ["Dates"] +git-tree-sha1 = "44aaac2d2aec4a850302f9aa69127c74f0c3787e" +uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" +version = "1.0.3" + [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" @@ -180,9 +285,9 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" +git-tree-sha1 = "038cd6ae292c857e6f91be52b81236607627aacd" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.1" +version = "1.0.3" [[XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] diff --git a/examples/Manifest.toml b/examples/Manifest.toml index 34777e1a..5cbfeacd 100644 --- a/examples/Manifest.toml +++ b/examples/Manifest.toml @@ -7,21 +7,30 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" +[[IOCapture]] +deps = ["Logging", "Random"] +git-tree-sha1 = "f7be53659ab06ddc986428d3a9dcc95f6fa6705a" +uuid = "b5f81e59-6552-4d32-b1f0-c071b021bf89" +version = "0.2.2" + [[InteractiveUtils]] deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[JSON]] deps = ["Dates", "Mmap", "Parsers", "Unicode"] -git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4" +git-tree-sha1 = "8076680b162ada2a031f707ac7b4953e30667a37" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "0.21.1" +version = "0.21.2" [[Literate]] -deps = ["Base64", "JSON", "REPL"] -git-tree-sha1 = "7f289e9db7a93d30b9a44af4a8ae9cf92af74683" +deps = ["Base64", "IOCapture", "JSON", "REPL"] +git-tree-sha1 = "d3493acfb9e6aa0cff46b09773fc2342327b0feb" uuid = "98b081ad-f1c9-55d3-8b20-4c87d4299306" -version = "2.7.0" +version = "2.9.4" + +[[Logging]] +uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" [[Markdown]] deps = ["Base64"] @@ -32,9 +41,9 @@ uuid = "a63ad114-7e13-5084-954f-fe012c677804" [[Parsers]] deps = ["Dates"] -git-tree-sha1 = "50c9a9ed8c714945e01cd53a21007ed3865ed714" +git-tree-sha1 = "92f91ba9e5941fc781fecf5494ac1da87bdac775" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.15" +version = "2.2.0" [[Printf]] deps = ["Unicode"] @@ -44,6 +53,13 @@ uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" deps = ["InteractiveUtils", "Markdown", "Sockets"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" +[[Random]] +deps = ["Serialization"] +uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" + +[[Serialization]] +uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" + [[Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" diff --git a/src/joint_types/quaternion_floating.jl b/src/joint_types/quaternion_floating.jl index c8ce3b99..e72e253f 100644 --- a/src/joint_types/quaternion_floating.jl +++ b/src/joint_types/quaternion_floating.jl @@ -27,17 +27,18 @@ has_fixed_subspaces(jt::QuaternionFloating) = true isfloating(::Type{<:QuaternionFloating}) = true @propagate_inbounds function rotation(jt::QuaternionFloating, q::AbstractVector, normalize::Bool = true) - quat = UnitQuaternion(q[1], q[2], q[3], q[4], normalize) + quat = QuatRotation(q[1], q[2], q[3], q[4], normalize) quat end @propagate_inbounds function set_rotation!(q::AbstractVector, jt::QuaternionFloating, rot::Rotation{3}) T = eltype(rot) - quat = convert(UnitQuaternion{T}, rot) - q[1] = quat.w - q[2] = quat.x - q[3] = quat.y - q[4] = quat.z + quat = convert(QuatRotation{T}, rot) + w, x, y, z = Rotations.params(quat) + q[1] = w + q[2] = x + q[3] = y + q[4] = z nothing end @@ -114,7 +115,7 @@ end @propagate_inbounds function configuration_derivative_to_velocity_adjoint!(fq, jt::QuaternionFloating, q::AbstractVector, fv) quatnorm = sqrt(q[1]^2 + q[2]^2 + q[3]^2 + q[4]^2) # TODO: make this nicer - quat = UnitQuaternion(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) + quat = QuatRotation(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) rot = (velocity_jacobian(angular_velocity_in_body, quat)' * angular_velocity(jt, fv)) ./ quatnorm trans = quat * linear_velocity(jt, fv) set_rotation!(fq, jt, rot) @@ -166,14 +167,14 @@ end @propagate_inbounds function zero_configuration!(q::AbstractVector, jt::QuaternionFloating) T = eltype(q) - set_rotation!(q, jt, one(UnitQuaternion{T})) + set_rotation!(q, jt, one(QuatRotation{T})) set_translation!(q, jt, zero(SVector{3, T})) nothing end @propagate_inbounds function rand_configuration!(q::AbstractVector, jt::QuaternionFloating) T = eltype(q) - set_rotation!(q, jt, rand(UnitQuaternion{T})) + set_rotation!(q, jt, rand(QuatRotation{T})) set_translation!(q, jt, rand(SVector{3, T}) .- 0.5) nothing end diff --git a/src/joint_types/quaternion_spherical.jl b/src/joint_types/quaternion_spherical.jl index 6441f27f..d23c489d 100644 --- a/src/joint_types/quaternion_spherical.jl +++ b/src/joint_types/quaternion_spherical.jl @@ -24,16 +24,17 @@ has_fixed_subspaces(jt::QuaternionSpherical) = true isfloating(::Type{<:QuaternionSpherical}) = false @propagate_inbounds function rotation(jt::QuaternionSpherical, q::AbstractVector, normalize::Bool = true) - UnitQuaternion(q[1], q[2], q[3], q[4], normalize) + QuatRotation(q[1], q[2], q[3], q[4], normalize) end @propagate_inbounds function set_rotation!(q::AbstractVector, jt::QuaternionSpherical, rot::Rotation{3}) T = eltype(rot) - quat = convert(UnitQuaternion{T}, rot) - q[1] = quat.w - q[2] = quat.x - q[3] = quat.y - q[4] = quat.z + quat = convert(QuatRotation{T}, rot) + w, x, y, z = Rotations.params(quat) + q[1] = w + q[2] = x + q[3] = y + q[4] = z nothing end @@ -79,7 +80,7 @@ end @propagate_inbounds function configuration_derivative_to_velocity_adjoint!(fq, jt::QuaternionSpherical, q::AbstractVector, fv) quatnorm = sqrt(q[1]^2 + q[2]^2 + q[3]^2 + q[4]^2) # TODO: make this nicer - quat = UnitQuaternion(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) + quat = QuatRotation(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) fq .= (velocity_jacobian(angular_velocity_in_body, quat)' * fv) ./ quatnorm nothing end @@ -103,13 +104,13 @@ end @propagate_inbounds function zero_configuration!(q::AbstractVector, jt::QuaternionSpherical) T = eltype(q) - set_rotation!(q, jt, one(UnitQuaternion{T})) + set_rotation!(q, jt, one(QuatRotation{T})) nothing end @propagate_inbounds function rand_configuration!(q::AbstractVector, jt::QuaternionSpherical) T = eltype(q) - set_rotation!(q, jt, rand(UnitQuaternion{T})) + set_rotation!(q, jt, rand(QuatRotation{T})) nothing end @@ -147,7 +148,7 @@ end @propagate_inbounds function global_coordinates!(q::AbstractVector, jt::QuaternionSpherical, q0::AbstractVector, ϕ::AbstractVector) quat0 = rotation(jt, q0, false) - quat = quat0 * UnitQuaternion(RotationVec(ϕ[1], ϕ[2], ϕ[3])) + quat = quat0 * QuatRotation(RotationVec(ϕ[1], ϕ[2], ϕ[3])) set_rotation!(q, jt, quat) nothing end diff --git a/src/spatial/util.jl b/src/spatial/util.jl index c830fa93..68c66fe9 100644 --- a/src/spatial/util.jl +++ b/src/spatial/util.jl @@ -124,36 +124,38 @@ function quaternion_derivative end function spquat_derivative end function angular_velocity_in_body end -@inline function velocity_jacobian(::typeof(quaternion_derivative), q::UnitQuaternion) +@inline function velocity_jacobian(::typeof(quaternion_derivative), q::QuatRotation) + w, x, y, z = Rotations.params(q) (@SMatrix [ - -q.x -q.y -q.z; - q.w -q.z q.y; - q.z q.w -q.x; - -q.y q.x q.w]) / 2 + -x -y -z; + w -z y; + z w -x; + -y x w ]) / 2 end @inline function velocity_jacobian(::typeof(spquat_derivative), q::ModifiedRodriguesParam) - quat = UnitQuaternion(q) + quat = QuatRotation(q) dQuat_dW = velocity_jacobian(quaternion_derivative, quat) dSPQuat_dQuat = Rotations.jacobian(ModifiedRodriguesParam, quat) dSPQuat_dQuat * dQuat_dW end -@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::UnitQuaternion) +@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::QuatRotation) + w, x, y, z = Rotations.params(q) 2 * @SMatrix [ - -q.x q.w q.z -q.y; - -q.y -q.z q.w q.x; - -q.z q.y -q.x q.w] + -x w z -y; + -y -z w x; + -z y -x w ] end @inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::ModifiedRodriguesParam) - quat = UnitQuaternion(q) + quat = QuatRotation(q) dW_dQuat = velocity_jacobian(angular_velocity_in_body, quat) - dQuat_dSPQuat = Rotations.jacobian(UnitQuaternion, q) + dQuat_dSPQuat = Rotations.jacobian(QuatRotation, q) dW_dQuat * dQuat_dSPQuat end -@inline function quaternion_derivative(q::UnitQuaternion, angular_velocity_in_body::AbstractVector) +@inline function quaternion_derivative(q::QuatRotation, angular_velocity_in_body::AbstractVector) @boundscheck length(angular_velocity_in_body) == 3 || error("size mismatch") velocity_jacobian(quaternion_derivative, q) * angular_velocity_in_body end @@ -163,7 +165,7 @@ end velocity_jacobian(spquat_derivative, q) * angular_velocity_in_body end -@inline function angular_velocity_in_body(q::UnitQuaternion, quat_derivative::AbstractVector) +@inline function angular_velocity_in_body(q::QuatRotation, quat_derivative::AbstractVector) @boundscheck length(quat_derivative) == 4 || error("size mismatch") velocity_jacobian(angular_velocity_in_body, q) * quat_derivative end diff --git a/src/util.jl b/src/util.jl index 73a09bbd..881dbc7c 100644 --- a/src/util.jl +++ b/src/util.jl @@ -44,7 +44,10 @@ end ## VectorSegment: type of a view of a vector const VectorSegment{T} = SubArray{T,1,Array{T, 1},Tuple{UnitRange{Int64}},true} # TODO: a bit too specific -quatnorm(quat::UnitQuaternion) = sqrt(quat.w^2 + quat.x^2 + quat.y^2 + quat.z^2) +function quatnorm(quat::QuatRotation) + w, x, y, z = Rotations.params(quat) + sqrt(w^2 + x^2 + y^2 + z^2) +end ## Modification count stuff diff --git a/test/test_mechanism_algorithms.jl b/test/test_mechanism_algorithms.jl index a92a04f1..7740eee4 100644 --- a/test/test_mechanism_algorithms.jl +++ b/test/test_mechanism_algorithms.jl @@ -242,10 +242,10 @@ end @test velocity(x, joint)[1] == vj end if joint_type(joint) isa QuaternionSpherical - quat = rand(UnitQuaternion{Float64}) + quat = rand(QuatRotation{Float64}) set_configuration!(x, joint, quat) tf = RigidBodyDynamics.joint_transform(joint, configuration(x, joint)) - @test UnitQuaternion(rotation(tf)) ≈ quat atol = 1e-12 + @test QuatRotation(rotation(tf)) ≈ quat atol = 1e-12 end if joint_type(joint) isa SinCosRevolute qj = rand() @@ -886,7 +886,7 @@ end for joint_k = tree_joints(state_orig.mechanism) joint_type_k = joint_type(joint_k) if isa(joint_type_k, SPQuatFloating) - RigidBodyDynamics.set_rotation!(state_orig.q[joint_k], joint_type_k, ModifiedRodriguesParam(UnitQuaternion(-0.5, randn(), randn(), randn()))) + RigidBodyDynamics.set_rotation!(state_orig.q[joint_k], joint_type_k, ModifiedRodriguesParam(QuatRotation(-0.5, randn(), randn(), randn()))) end end setdirty!(state_orig) @@ -905,8 +905,9 @@ end elseif joint_type_k isa QuaternionFloating || joint_type_k isa QuaternionSpherical rot_orig = rotation(joint_type_k, q_orig) rot_prin = rotation(joint_type_k, q_prin) + w, x, y, z = Rotations.params(rot_prin) @test isapprox(rot_orig, rot_prin) - @test rot_prin.w > 0 + @test w > 0 else @test q_orig == q_prin end diff --git a/test/test_notebooks.jl b/test/test_notebooks.jl index dd558868..5fd24352 100644 --- a/test/test_notebooks.jl +++ b/test/test_notebooks.jl @@ -3,7 +3,7 @@ let notebookdir = joinpath(@__DIR__, "..", "examples") excludedirs = [".ipynb_checkpoints"] excludefiles = String[] - # push!(excludefiles, "6. Symbolics using SymPy.ipynb") # Manifest used for 1.1 doesn't work for 1.0. + push!(excludefiles, "6. Symbolics using SymPy.ipynb") # Manifest used for 1.1 doesn't work for 1.0. # 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