Compat for Julia 1.7 and switch from Roations.jl to Quaternions.jl

Project.toml

@@ -18,28 +18,28 @@ Meshing = "e6723b4c-ebff-59f1-b4b7-d97aa5274f73"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Polyhedra = "67491407-f73d-577b-9b50-8179a7c68029"
+Quaternions = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
-Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 Scratch = "6c6a2e73-6563-6170-7368-637461726353"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
-Colors = "<0.12.6, 0.12.6"
-DocStringExtensions = "<0.8.3, 0.8.3"
+Colors = "<0.12.8, 0.12.8"
+DocStringExtensions = "<0.8.6, 0.8.6"
 FFMPEG = "0.4.1"
-GeometryBasics = "0.3"
-JLD2 = "0.4.21"
-LaTeXStrings = "1.3.0"
-LightGraphs = "1.3.5"
+GeometryBasics = "<0.4.0, 0.4.0"
+JLD2 = "<0.4.22, 0.4.22"
+LaTeXStrings = "1.3"
+LightGraphs = "1.3"
 LightXML = "<0.9.0, 0.9.0"
-MeshCat = "0.14"
-Meshing = "0.5.7"
-Parameters = "0.12"
-Polyhedra = "0.6.18"
-Rotations = "1.0.2 - 1.0.2"
+MeshCat = "<0.14.0, 0.14.0"
+Meshing = "<0.5.7, 0.5.7"
+Parameters = "<0.12.0, 0.12.0"
+Polyhedra = "<0.7.1, 0.7.1"
+Quaternions = "<0.5.3, 0.5.3"
 Scratch = "1.1"
-StaticArrays = "1.4"
-julia = "1.6"
+StaticArrays = "1.2"
+julia = "1.6, 1.7"

environments/box/methods/initialize.jl

@@ -60,7 +60,7 @@ end
 
 function initialize_box!(mechanism::Mechanism{T};
         x=[0.0, 0.0, 1.0],
-        q=UnitQuaternion(1.0, 0.0, 0.0, 0.0),
+        q=Quaternion(1.0, 0.0, 0.0, 0.0),
         v=[1.0, 0.3, 0.2],
         ω=[2.5, -1.0, 2.0]) where T
 

environments/box2D/methods/initialize.jl

@@ -74,7 +74,7 @@ function initialize_box2D!(mechanism::Mechanism{T};
 
     set_maximal_configurations!(body, 
         x=[0.0; position] + [0.0, 0.0 , z], 
-        q=UnitQuaternion(RotX(orientation)))
+        q=RotX(orientation))
     set_maximal_velocities!(body, 
         v=[0.0; linear_velocity], 
         ω=[angular_velocity, 0.0, 0.0])

environments/cartpole/methods/env.jl

@@ -158,7 +158,7 @@ function ghost(env::Environment{Cartpole}, z_sol;
         for (i, xt) in enumerate(z_sol)
             z_pendulum = xt[13 .+ (1:13)]
             x = z_pendulum[1:3]
-            q = UnitQuaternion(z_pendulum[6 .+ (1:4)]...)
+            q = Quaternion(z_pendulum[6 .+ (1:4)]...)
             k = x + vector_rotate([0.0; 0.0; -0.5], q)
 
             push!(points, Point(k[1], k[2], k[3]))

environments/cartpole/methods/initialize.jl

@@ -17,7 +17,7 @@ function get_cartpole(;
     # Links
     origin = Origin{Float64}()
     slider = Capsule(1.5 * radius, slider_length, slider_mass, 
-        axis_offset=UnitQuaternion(RotX(0.5 * π)), 
+        axis_offset=RotX(0.5 * π), 
         color=RGBA(0.7, 0.7, 0.7, 1.0))
     pendulum = Capsule(radius, pendulum_length, pendulum_mass, 
         color=RGBA(0.7, 0.7, 0.7, 1.0))
@@ -56,14 +56,14 @@ function initialize_cartpole!(mech::Mechanism{T,Nn,Ne,Nb};
     if mode == :down
         set_maximal_configurations!(mech.bodies[1], mech.bodies[2], 
             Δx=[0.0; 0.0; -0.5 * pendulum_length], 
-            Δq=UnitQuaternion(RotX(π)))
+            Δq=RotX(π))
         set_maximal_velocities!(mech.bodies[2], 
             v=zeros(3), 
             ω=zeros(3))
     elseif mode == :up
         set_maximal_configurations!(mech.bodies[1], mech.bodies[2], 
             Δx=[0.0; 0.0; 0.5 * pendulum_length], 
-            Δq=UnitQuaternion(RotX(π)))
+            Δq=RotX(π))
         set_maximal_velocities!(mech.bodies[2], 
             v=zeros(3), 
             ω=zeros(3))

environments/dzhanibekov/methods/initialize.jl

@@ -11,7 +11,7 @@ function get_dzhanibekov(;
     main_body = Capsule(radius, body_length, body_mass,
         color=color, name=:main)
     side_body = Capsule(0.5 * radius, 0.35 * body_length, 0.5 * body_mass,
-        axis_offset=UnitQuaternion(RotY(0.5 * π)),
+        axis_offset=RotY(0.5 * π),
         color=color, name=:side)
     links = [main_body, side_body]
 

environments/humanoid/methods/initialize.jl

@@ -25,8 +25,8 @@ function get_humanoid(;
 
 		aa = -0.43000 * [-0.44721, 0.00000, 0.89442]
 		ql = axis_angle_to_quaternion(aa)
-        qll = ql * UnitQuaternion(RotXYZ(roll=-1.57080, pitch=1.47585, yaw=-1.47585)) # roll pitch yaw
-        qlr = ql * UnitQuaternion(RotXYZ(roll=+1.57080, pitch=1.47585, yaw=+1.47585)) # roll pitch yaw
+        qll = ql * RotX(-1.57080)*RotY(1.47585)*RotZ(-1.47585) # Quaternion(RotXYZ(roll=-1.57080, pitch=1.47585, yaw=-1.47585)) # roll pitch yaw
+        qlr = ql * RotX(+1.57080)*RotY(1.47585)*RotZ(+1.47585) # Quaternion(RotXYZ(roll=+1.57080, pitch=1.47585, yaw=+1.47585)) # roll pitch yaw
 
         pfll = vector_rotate([ 0.5 * left_foot.shape.shape[1].rh[2] + 0.03500; -0.03; 0.0], qll)
         pbll = vector_rotate([-0.5 * left_foot.shape.shape[1].rh[2] + 0.03500; -0.03; 0.0], qll)

environments/orbital/methods/initialize.jl

@@ -55,7 +55,7 @@ function initialize_orbital!(mechanism::Mechanism{T};
     # set position and velocities
     set_maximal_configurations!(mechanism.origin, pbody, 
         child_vertex=vert11, 
-        Δq=UnitQuaternion(RotX(0.0)))
+        Δq=RotX(0.0))
 
     set_minimal_coordinates!(mechanism, mechanism.joints[2], orientation)
 

environments/pendulum/methods/initialize.jl

@@ -6,7 +6,7 @@ function get_pendulum(;
     spring=0.0,
     damper=0.0,
     spring_offset=szeros(1),
-    axis_offset=one(UnitQuaternion),
+    axis_offset=one(Quaternion),
     T=Float64)
 
     # Parameters
@@ -106,7 +106,7 @@ function initialize_npendulum!(mechanism::Mechanism{T};
     # set position and velocities
     set_maximal_configurations!(mechanism.origin, pbody,
         child_vertex=vert11,
-        Δq=UnitQuaternion(RotX(base_angle)))
+        Δq=RotX(base_angle))
     set_maximal_velocities!(pbody,
         ω=base_angular_velocity)
 

environments/raiberthopper/methods/env.jl

@@ -142,7 +142,7 @@ function visualize(env::Environment{RaibertHopper}, traj::Vector{Vector{T}};
                 name=name)
             step = range(0.0, stop=norm(dir), length=n_leg)
             for i = 1:n_leg
-                MeshCat.settransform!(env.vis["leg$i"], MeshCat.compose(MeshCat.Translation(step[i] .* dir_norm + x_foot), MeshCat.LinearMap(Rotations.RotY(0.0))))
+                MeshCat.settransform!(env.vis["leg$i"], MeshCat.compose(MeshCat.Translation(step[i] .* dir_norm + x_foot), MeshCat.LinearMap(Dojo.RotY(0.0))))
             end
         end
     end

environments/raiberthopper/methods/initialize.jl

@@ -91,7 +91,7 @@ function initialize_raiberthopper!(mech::Mechanism{T,Nn,Ne,Nb};
     # body to foot
     set_maximal_configurations!(pbody, cbody, 
         Δx=[0.0; 0.0; -leg_length], 
-        Δq=UnitQuaternion(RotX(0.0)))
+        Δq=RotX(0.0))
     set_maximal_velocities!(pbody, cbody, 
         parent_vertex=tra2.vertices[1], 
         child_vertex=tra2.vertices[2], 

environments/snake/methods/initialize.jl

@@ -70,7 +70,7 @@ end
 
 function initialize_snake!(mechanism::Mechanism{T};
     base_position=[0.0, -0.5, 0.0],
-    base_orientation=UnitQuaternion(RotX(0.6 * π)),
+    base_orientation=RotX(0.6 * π),
     base_linear_velocity=zeros(3),
     base_angular_velocity=zeros(3),
     relative_linear_velocity=zeros(3),

environments/sphere/methods/initialize.jl

@@ -33,7 +33,7 @@ end
 
 function initialize_sphere!(mechanism::Mechanism{T}; 
     x=zeros(3),
-    q=one(UnitQuaternion), 
+    q=one(Quaternion), 
     v=zeros(3),
     ω=zeros(3)) where T
 

environments/tennisracket/methods/initialize.jl

@@ -16,7 +16,7 @@ end
 
 function initialize_tennisracket!(mechanism::Mechanism{T}; 
     x=zeros(3),
-    q=one(UnitQuaternion), 
+    q=one(Quaternion), 
     v=zeros(3),
     ω=zeros(3)) where T
 

environments/twister/methods/initialize.jl

@@ -69,7 +69,7 @@ end
 
 function initialize_twister!(mechanism::Mechanism{T}; 
     base_position=[0.0, -1.0, 0.0],
-    base_orientation=UnitQuaternion(RotX(0.6 * π)),
+    base_orientation=RotX(0.6 * π),
     base_linear_velocity=zeros(3), 
     base_angular_velocity=zeros(3),
     relative_linear_velocity=zeros(3), 

examples/animations/generate/box.jl

@@ -25,7 +25,7 @@ for t = 1:length(z_vis)
     u = (t == length(z_vis) ? 0.5 * u_vis[end] ./ u_max : 0.5 * u_vis[t] ./ u_max)
     MeshCat.atframe(anim, t) do
 
-        settransform!(v[:robot], MeshCat.compose(MeshCat.Translation(z[2], z[1], z[3]), MeshCat.LinearMap(UnitQuaternion(z[6 .+ (1:4)]...))))
+        settransform!(v[:robot], MeshCat.compose(MeshCat.Translation(z[2], z[1], z[3]), MeshCat.LinearMap(Quaternion(z[6 .+ (1:4)]...))))
         settransform!(force_vis,
             Point(z[2] - u[2] - shift[2], z[1] - u[1] - shift[1], z[3] - u[3] - shift[3]),
             Vec(u[2], u[1], u[3]),

examples/simulation/cone_compare.jl

@@ -43,7 +43,7 @@ mech_lc = get_mechanism(:box,
 # ## Simulate
 initialize!(mech_lc, :box,
     x=x0,
-    q=one(UnitQuaternion),
+    q=one(Quaternion),
     v=v0,
     ω=ω0)
 
@@ -70,7 +70,7 @@ mech_nc = get_mechanism(:box,
 # ## Simulate
 initialize!(mech_nc, :box,
     x=x0,
-    q=one(UnitQuaternion),
+    q=one(Quaternion),
     v=v0,
     ω=ω0)
 
@@ -101,7 +101,7 @@ mech_mjlc = get_mechanism(:box,
 # ## Load
 initialize!(mech_mjlc, :box,
     x=x0,
-    q=one(UnitQuaternion),
+    q=one(Quaternion),
     v=v0,
     ω=ω0)
 file = jldopen(joinpath(@__DIR__, "../mujoco_benchmark/results/cone_compare_pyramidal.jld2"))
@@ -135,7 +135,7 @@ mech_mjnc = get_mechanism(:box,
 # ## Load
 initialize!(mech_mjnc, :box,
     x=x0,
-    q=one(UnitQuaternion),
+    q=one(Quaternion),
     v=v0,
     ω=ω0)
 file = jldopen(joinpath(@__DIR__, "../mujoco_benchmark/results/cone_compare_elliptic.jld2"))

examples/system_identification/data/data.jl

@@ -33,8 +33,8 @@ function toss2z(toss, timestep; s=1)
 		q2 = vec2[4:7]
 
 		v15 = (x2 - x1) / timestep
-		ϕ15 = ω_finite_difference(UnitQuaternion(q1...),
-			UnitQuaternion(q2...), timestep)
+		ϕ15 = ω_finite_difference(Quaternion(q1...),
+			Quaternion(q2...), timestep)
 
 		z2 = [x2; v15; q2; ϕ15]
 		push!(z, z2)

examples/system_identification/methods/utils.jl

@@ -128,19 +128,19 @@ function datafilename(model::Symbol; kwargs...)
 end
 
 function datafilenamesphere(; N::Int=10, friction_coefficient=0.1, radius=0.5)
-    "sphere_dim_N:$(N)_friction_coefficient:$(friction_coefficient)_radius:$(radius).jld2"
+    "sphere_dim_N_$(N)_friction_coefficient_$(friction_coefficient)_radius_$(radius).jld2"
 end
 
 function datafilenamebox2D(; N::Int=10, friction_coefficient=0.1, radius=0.05, side=0.50)
-    "box2D_dim_N:$(N)_friction_coefficient:$(friction_coefficient)_radius:$(radius)_side:$(side).jld2"
+    "box2D_dim_N_$(N)_friction_coefficient_$(friction_coefficient)_radius_$(radius)_side_$(side).jld2"
 end
 
 function datafilenamebox(; N::Int=10, friction_coefficient=0.1, radius=0., side=0.50)
-    "box_dim_N:$(N)_friction_coefficient:$(friction_coefficient)_radius:$(radius)_side:$(side).jld2"
+    "box_dim_N_$(N)_friction_coefficient_$(friction_coefficient)_radius_$(radius)_side_$(side).jld2"
 end
 
 function datafilenamehardwarebox(; N::Int=10, s=1)
-    "hardwarebox_dim_N:$(N)_sample_S:$(S).jld2"
+    "hardwarebox_dim_N_$(N)_sample_S_$(S).jld2"
 end
 
 function initial_state(model::Symbol; kwargs...)
@@ -176,7 +176,7 @@ function initial_state_box(;
 	x = xlims[1] + rand(3) .* (xlims[2] - xlims[1])
 	v = vlims[1] + rand(3) .* (vlims[2] - vlims[1])
 	ω = ωlims[1] + rand(3) .* (ωlims[2] - ωlims[1])
-	return Dict(:x => x, :v => v , :q => rand(UnitQuaternion), :ω => ω)
+	return Dict(:x => x, :v => v , :q => normalize(rand(Quaternion{Float64})), :ω => ω)
 end
 
 function build_pairs(mechanism::Mechanism, trajs::AbstractVector)

src/Dojo.jl

@@ -8,8 +8,7 @@ using Random
 using StaticArrays
 using SparseArrays
 using StaticArrays: SUnitRange
-using Rotations
-using Rotations: RotationError, params, lmult, rmult, tmat, vmat, hmat, skew, pure_quaternion
+using Quaternions
 using Parameters
 using Statistics
 
@@ -256,10 +255,7 @@ export
 
 # Orientation
 export
-    UnitQuaternion,
-    RotX,
-    RotY,
-    RotZ,
+    Quaternion,
     attitude_jacobian
 
 # Data

src/bodies/set.jl

@@ -38,7 +38,7 @@ end
 # maximal
 function set_maximal_configurations!(body::Body; 
     x::AbstractVector=SA[0.0; 0.0; 0.0], 
-    q::UnitQuaternion=one(UnitQuaternion))
+    q::Quaternion=one(Quaternion))
 
     body.state.x2 = x
     body.state.q2 = q
@@ -60,7 +60,7 @@ function set_maximal_configurations!(pbody::Node, cbody::Body;
     parent_vertex::AbstractVector=SA[0.0; 0.0; 0.0], 
     child_vertex::AbstractVector=SA[0.0; 0.0; 0.0],
     Δx::AbstractVector=SA[0.0; 0.0; 0.0], 
-    Δq::UnitQuaternion=one(UnitQuaternion))
+    Δq::Quaternion=one(Quaternion))
 
     q1 = pbody.state.q2
     q2 = pbody.state.q2 * Δq