Merge branch 'dev'

.github/workflows/documentation.yml

@@ -17,7 +17,7 @@ jobs:
       - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v1
         with:
-          version: '1.9'
+          version: '1.10'
       - name: Install dependencies
         run: julia  -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy

.github/workflows/test.yml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        julia-version: ['1.9']
+        julia-version: ['1.10']
         julia-arch: [x64]
         group:
           - ALL

Project.toml

@@ -27,6 +27,7 @@ IterTools = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
 JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
+Lux = "b2108857-7c20-44ae-9111-449ecde12c47"
 LuxurySparse = "d05aeea4-b7d4-55ac-b691-9e7fabb07ba2"
 MakieCore = "20f20a25-4f0e-4fdf-b5d1-57303727442b"
 Meshes = "eacbb407-ea5a-433e-ab97-5258b1ca43fa"
@@ -57,6 +58,7 @@ Tullio = "bc48ee85-29a4-5162-ae0b-a64e1601d4bc"
 TypeSortedCollections = "94a5cd58-49a0-5741-bd07-fa4f4be8babf"
 TypedTables = "9d95f2ec-7b3d-5a63-8d20-e2491e220bb9"
 Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
+Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
 
 [compat]
 julia = "1.9"

examples/bodies/build_2d_tri.jl

@@ -70,9 +70,9 @@ state = RB.RigidBodyState(prop,ro,α,ṙo,ω)
 coords = RB.NonminimalCoordinates(nmcs,ci,cstr_idx)
 trimesh = begin
     if id == 1
-        load(RB.assetpath("零件1 - 副本.STL")) |> make_patch(;scale=1/1000,color=:mediumpurple4)
+        load(RB.assetpath("零件1 - 副本.STL")) |> RB.make_patch(;scale=1/1000,color=:mediumpurple4)
     else
-        load(RB.assetpath("零件1.STL")) |> make_patch(;scale=1/1000,color=:slategray4)
+        load(RB.assetpath("零件1.STL")) |> RB.make_patch(;scale=1/1000,color=:slategray4)
     end
 end
 body = RB.RigidBody(prop,state,coords,trimesh)

examples/bodies/make_3d_bar.jl

@@ -96,7 +96,7 @@ elseif loadmesh2
         color=:palegreen3,
     )
 else
-    barmesh = endpoints2mesh(r̄p1,r̄p2;radius,)
+    barmesh = RB.endpoints2mesh(r̄p1,r̄p2;radius,)
 end
 body = RB.RigidBody(prop,state,coords,barmesh)
 end

examples/bodies/make_3d_plate.jl

@@ -21,14 +21,14 @@ function make_3d_plate(
 visible = ci != Int[]
 mat = filter(
     row -> row.name == "Teak", 
-    material_properties
+    RB.material_properties
 )[1]
 density = mat.density |> ustrip
 if meshvisible
     if loadmesh
         platemesh = load("柚木板3.STL") |> make_patch(;rot=RotZ(π/4))
     else
-        platemesh = endpoints2mesh(
+        platemesh = RB.endpoints2mesh(
             SVector(0.0,0.0,-height/2),
             SVector(0.0,0.0,height/2);
             radius,n1=m,n2=2)

examples/bodies/make_3d_tri.jl

@@ -84,22 +84,22 @@ pretty_table(
 if loadmesh
     trimesh = load(
         RB.assetpath("球铰/零件1.stl")
-    ) |> make_patch(;
+    ) |> RB.make_patch(;
     scale = 1/200, 
     color = :tomato1,
     trans = [0,0,-0.39]
     )
 else
     trimesh = GB.merge(
         [
-            endpoints2mesh(loci_positions[i],loci_positions[j];
+            RB.endpoints2mesh(loci_positions[i],loci_positions[j];
             radius,color)
             for (i,j) in [
                 [1,2],[1,3],[1,4],
                 [2,3],[3,4],[4,2]
             ]
         ]
-    ) |> make_patch(;color = :darkslategrey)
+    ) |> RB.make_patch(;color = :darkslategrey)
     #     platemesh = endpoints2mesh(
     #         SVector(0.0,0.0,-height/2),
     #         SVector(0.0,0.0, height/2);

examples/robots/Tbars.jl

@@ -132,14 +132,6 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
     rbs = [base,slider1,slider2,bar]
     rigdibodies = TypeSortedCollection(rbs)
 
-    j1 = RB.PrismaticJoint(1,RB.Hen2Egg(RB.ID(base,5,1),RB.ID(slider1,1,1)))
-    j2 = RB.PrismaticJoint(2,RB.Hen2Egg(RB.ID(base,5,2),RB.ID(slider2,1,1)))
-
-    j3 = RB.PinJoint(3,RB.Hen2Egg(RB.ID(bar,1,1),RB.ID(slider1,2,1)))
-    j4 = RB.PinJoint(4,RB.Hen2Egg(RB.ID(bar,2,1),RB.ID(slider2,2,1)))
-
-    js = [j1,j2,j3,j4]
-
     ncables = 4
     original_restlens = zeros(ncables)
     original_restlens = zeros(ncables)
@@ -148,7 +140,7 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
     cs = zeros(ncables)
     spring_dampers = [RB.DistanceSpringDamper3D(original_restlens[i],ks[i],cs[i];slack=false) for i = 1:ncables]
 
-    cm = [
+    connecting_matrix = [
         1 -1  0  0;
         2 -1  0  0;
         # 3  0 -1  0;
@@ -157,10 +149,19 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
         7 -1  0  0;
     ]
 
-    cables = RB.connect(rigdibodies, spring_dampers, cm, 4)
+    cables = RB.connect(rigdibodies, spring_dampers; connecting_matrix,)
+
+
+    j1 = RB.PrismaticJoint(ncables+1,RB.Hen2Egg(RB.Signifier(base,5,1),RB.Signifier(slider1,1,1)))
+    j2 = RB.PrismaticJoint(ncables+2,RB.Hen2Egg(RB.Signifier(base,5,2),RB.Signifier(slider2,1,1)))
+
+    j3 = RB.PinJoint(ncables+3,RB.Hen2Egg(RB.Signifier(bar,1,1),RB.Signifier(slider1,2,1)))
+    j4 = RB.PinJoint(ncables+4,RB.Hen2Egg(RB.Signifier(bar,2,1),RB.Signifier(slider2,2,1)))
+
+    js = [j1,j2,j3,j4]
 
     apparatuses = TypeSortedCollection(
-        vcat(js,cables)
+        vcat(cables,js)
     )
 
     # sm = [
@@ -173,5 +174,14 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
     # ]
     # indexed = RB.index(rigdibodies,sm)
     st = RB.Structure(rigdibodies,apparatuses,)
-    RB.Robot(st,)
+    gauges = Int[]
+    actuators = Int[]
+    hub = RB.ControlHub(
+        st,
+        gauges,
+        actuators,
+        RB.Coalition(st,gauges,actuators)
+    )
+
+    RB.Robot(st,hub)
 end

examples/robots/birdneck.jl

@@ -118,7 +118,7 @@ indexed = RB.index(rbs,sharing)
 # ks = vcat(fill(k,naux),fill(k,ness))
 # cs = fill(c,ncables)
 # cables = [RB.DistanceSpringDamper2D(restlens[i],ks[i],cs[i];slack) for i = 1:ncables]
-# acs = [RB.ManualActuator(1,collect(1:ncables),restlens[1:ncables])]
+# acs = [RB.RegisterActuator(1,collect(1:ncables),restlens[1:ncables])]
 # apparatuses = (cables = cables,)
 # hub = (actuators = acs,)
 cnt_matrix = [
@@ -133,10 +133,10 @@ cnt_matrix = [
 connected = RB.connect(rbs,cnt_matrix)
 # #
 
-# cst1 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb2,2),RB.ID(rb3,2)))
-# cst2 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb3,3),RB.ID(rb4,1)))
-# cst3 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb4,2),RB.ID(rb5,3)))
-# cst4 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb5,3),RB.ID(rb6,1)))
+# cst1 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb2,2),RB.Signifier(rb3,2)))
+# cst2 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb3,3),RB.Signifier(rb4,1)))
+# cst3 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb4,2),RB.Signifier(rb5,3)))
+# cst4 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb5,3),RB.Signifier(rb6,1)))
 # jointedmembers = RB.join((cst1,cst2,cst3,cst4),indexed)
 # # jointedmembers = RB.join((cst1,cst2,cst3),indexed)
 
@@ -148,7 +148,7 @@ else
     cables = [RB.DistanceSpringDamper2D(0.0,k[i],0.0;slack=false) for i = 1:ncables]
 end
 acs = [
-    RB.ManualActuator(i,[i],zeros(1))
+    RB.RegisterActuator(i,[i],zeros(1))
     for i = 1:hncables
 ]
 hub = (actuators = acs,)

examples/robots/bridge3d.jl

@@ -188,7 +188,7 @@ else
     cables = [RB.DistanceSpringDamper3D(0.0,k[i],0.0;slack=false) for i = 1:ncables]
 end
 acs = [
-    RB.ManualActuator(i,[i,i+hncables],zeros(2))
+    RB.RegisterActuator(i,[i,i+hncables],zeros(2))
     for i = 1:hncables
 ]
 apparatuses = (cables = cables,)
@@ -232,9 +232,9 @@ connected = RB.connect(rbs,cnt_matrix)
 # connected = RB.connect(rbs,zeros(Int,0,0))
 # #
 #
-# cst1 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb1_to_3[1],2),RB.ID(rb4,1)))
-# cst2 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb1_to_3[2],2),RB.ID(rb4,2)))
-# cst3 = RB.PinJoint(RB.Hen2Egg(RB.ID(rb1_to_3[3],2),RB.ID(rb4,3)))
+# cst1 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb1_to_3[1],2),RB.Signifier(rb4,1)))
+# cst2 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb1_to_3[2],2),RB.Signifier(rb4,2)))
+# cst3 = RB.PinJoint(RB.Hen2Egg(RB.Signifier(rb1_to_3[3],2),RB.Signifier(rb4,3)))
 # jointedmembers = RB.join((cst1,cst2,cst3),indexed)
 #
 cnt = RB.Connectivity(numbered,indexed,@eponymtuple(connected,))