Change all notebooks to use Julia 1.0.

Notebook fixes. * Reenable all notebook tests now that required packages all support Julia 1.0. * Put each notebook in a separate directory, with its own Project.toml and Manifest.toml, to make running the notebooks more straightforward (see JuliaLang/IJulia.jl#673). * Separate Project.toml and Manifest.toml files for optional visualization parts of the notebooks (not tested by CI, since this would introduce a cyclic test dependency). * Fix #501, Symbolic Double Pendulum not working (work around JuliaPy/SymPy.jl#245 and JuliaPy/SymPy.jl#244). Update doc links, readme in notebooks directory. Just rely on notebook-specific manifests for test dependencies other than ForwardDiff and NBInclude. Add RigidBodySim pointer. Better way to handle URDF links with the name 'world' Makes it so that root_frame(mechanism) is no longer named "". Fix copyto! performance for SegmentedVector. Fixes performance momentum_matrix! in ForwardDiff notebook.
JuliaRobotics · Oct 22, 2018 · 436f152 · 436f152
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diff --git a/docs/src/quickstart.md b/docs/src/quickstart.md
@@ -1,5 +1,5 @@
 # Quick start guide
 
-To get started, see [this Jupyter notebook](http://nbviewer.jupyter.org/github/JuliaRobotics/RigidBodyDynamics.jl/blob/master/notebooks/Quickstart%20-%20double%20pendulum.ipynb).
+To get started, see [this Jupyter notebook](http://nbviewer.jupyter.org/github/JuliaRobotics/RigidBodyDynamics.jl/blob/master/notebooks/Quickstart%20-%20double%20pendulum/Quickstart%20-%20double%20pendulum.ipynb).
 
-If you're interested in using different scalar types, see the [symbolic double pendulum](http://nbviewer.jupyter.org/github/JuliaRobotics/RigidBodyDynamics.jl/blob/master/notebooks/Symbolic%20double%20pendulum.ipynb) notebook.
+If you're interested in using different scalar types, see the [symbolic double pendulum](http://nbviewer.jupyter.org/github/JuliaRobotics/RigidBodyDynamics.jl/blob/master/notebooks/Symbolic%20double%20pendulum/Symbolic%20double%20pendulum.ipynb) notebook.
diff --git a/...s/Closed-loop simulation and visualization/Closed-loop simulation and visualization.ipynb b/...s/Closed-loop simulation and visualization/Closed-loop simulation and visualization.ipynb
@@ -0,0 +1,265 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Setup"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "\u001b[32m\u001b[1m  Updating\u001b[22m\u001b[39m registry at `~/.julia/registries/General`\n",
+      "\u001b[32m\u001b[1m  Updating\u001b[22m\u001b[39m git-repo `https://github.com/JuliaRegistries/General.git`\n",
+      "\u001b[?25l\u001b[2K\u001b[?25h\u001b[32m\u001b[1mPrecompiling\u001b[22m\u001b[39m project...\n"
+     ]
+    }
+   ],
+   "source": [
+    "using Pkg\n",
+    "Pkg.activate(@__DIR__);\n",
+    "pkg\"instantiate\"\n",
+    "pkg\"precompile\""
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "using RigidBodyDynamics"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Please note that [RigidBodySim.jl](https://github.com/JuliaRobotics/RigidBodySim.jl) now provides a more capable simulation environment."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Model definition"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We'll just use the double pendulum model, loaded from a URDF:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "Spanning tree:\n",
+       "Vertex: world (root)\n",
+       "  Vertex: upper_link, Edge: shoulder\n",
+       "    Vertex: lower_link, Edge: elbow\n",
+       "No non-tree joints."
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "urdf = joinpath(dirname(pathof(RigidBodyDynamics)), \"..\", \"test\", \"urdf\", \"Acrobot.urdf\")\n",
+    "mechanism = parse_urdf(urdf)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Controller"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Let's write a simple controller that just applies $10 \\sin(t)$ at the elbow joint and adds some damping at the shoulder joint:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "simple_control! (generic function with 1 method)"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "shoulder, elbow = joints(mechanism)\n",
+    "function simple_control!(torques::AbstractVector, t, state::MechanismState)\n",
+    "    torques[velocity_range(state, shoulder)] .= -1 .* velocity(state, shoulder)\n",
+    "    torques[velocity_range(state, elbow)] .= 10 * sin(t)\n",
+    "end"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Simulation"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Basic simulation can be done using the `simulate` function. We'll first create a `MechanismState` object, and set the initial joint configurations and velocities:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "state = MechanismState(mechanism)\n",
+    "zero_velocity!(state)\n",
+    "set_configuration!(state, shoulder, 0.7)\n",
+    "set_configuration!(state, elbow, -0.8);"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Now we can simply call `simulate`, which will return a tuple consisting of:\n",
+    "* simulation times (a `Vector` of numbers)\n",
+    "* joint configuration vectors (a `Vector` of `Vector`s)\n",
+    "* joint velocity vectors (a `Vector` of `Vector`s)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "final_time = 10.\n",
+    "ts, qs, vs = simulate(state, final_time, simple_control!; Δt = 1e-3);"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "For access to lower-level functionality, such as different ways of storing or visualizing the data generated during the simulation, it is advised to simply pattern match the basic `simulate` function."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Visualization"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "For visualization, we'll use [`MeshCatMechanisms`](https://github.com/JuliaRobotics/MeshCatMechanisms.jl), an external package based on RigidBodyDynamics.jl.\n",
+    "\n",
+    "(Note: the `#NBSKIP` comments are to skip these cells during `Pkg.test(\"RigidBodyDynamics\")`)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#NBSKIP\n",
+    "Pkg.activate(joinpath(@__DIR__, \"visualization\"));\n",
+    "pkg\"instantiate\"\n",
+    "pkg\"precompile\"\n",
+    "using MeshCatMechanisms"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Create a `MechanismVisualizer` and open it in a new browser tab (see [`MeshCat.jl`](https://github.com/rdeits/MeshCat.jl) for other options):"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#NBSKIP\n",
+    "mvis = MechanismVisualizer(mechanism, URDFVisuals(urdf))\n",
+    "open(mvis);"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "And animate:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#NBSKIP\n",
+    "MeshCatMechanisms.animate(mvis, ts, qs; realtimerate = 1.);"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Julia 1.0.0",
+   "language": "julia",
+   "name": "julia-1.0"
+  },
+  "language_info": {
+   "file_extension": ".jl",
+   "mimetype": "application/julia",
+   "name": "julia",
+   "version": "1.0.0"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}