Update visualiser support for new lts

.github/workflows/CI.yml

@@ -18,8 +18,8 @@ jobs:
       fail-fast: true
       matrix:
         version:
-          - '1.6'
-          - 'nightly'
+          - '1.10'
+          - '1.12'
         os:
           - macos-13 # only for x86_64
           - macos-latest # only for aarch64
@@ -50,8 +50,7 @@ jobs:
       fail-fast: true
       matrix:
         version:
-          - '1.6'
-          - 'nightly'
+          - '1.10'
         os:
           - ubuntu-latest
         arch:

Project.toml

@@ -15,21 +15,25 @@ BangBang = "198e06fe-97b7-11e9-32a5-e1d131e6ad66"
 FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
 GLFW = "f7f18e0c-5ee9-5ccd-a5bf-e8befd85ed98"
 Observables = "510215fc-4207-5dde-b226-833fc4488ee2"
-PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [extensions]
-VisualiserExt = ["BangBang", "FFMPEG", "GLFW", "Observables", "PrettyTables", "Printf", "StaticArrays"]
+VisualiserExt = ["BangBang", "FFMPEG", "GLFW", "Observables", "Printf", "StaticArrays"]
 
 [compat]
 CEnum = "0.3, 0.4, 0.5"
-julia = "1.6"
+julia = "1.10"
 LinearAlgebra = "1.6"
 MuJoCo_jll = "3.1.6"
 Requires = "1"
 UnsafeArrays = "1"
+StaticArrays = "1"
+Observables = "0.5"
+BangBang = "0.4"
+FFMPEG = "0.4"
+GLFW = "3"
 
 [extras]
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

docs/src/examples/humanoid_lqr.md

@@ -74,7 +74,7 @@ heights_mm = heights .* 1000
 # Compare force to weight of humanoid
 weight = sum(model.body_mass) * norm(model.opt.gravity)
 
-fig = Figure(resolution=(500,300))
+fig = Figure(size=(500,300))
 ax = Axis(fig[1,1], xlabel="Vertical offset (mm)", ylabel="Vertical force (N)")
 lines!(ax, heights_mm, u_vert, label="Vertical force")
 lines!(ax, heights_mm, weight*ones(length(heights)), linestyle=:dash, label="Weight")

examples/Project.toml

@@ -8,6 +8,5 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MatrixEquations = "99c1a7ee-ab34-5fd5-8076-27c950a045f4"
 MuJoCo = "1c101251-5e0f-4746-b44c-0728d433b68a"
 Observables = "510215fc-4207-5dde-b226-833fc4488ee2"
-PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

examples/humanoid_lqr.jl

@@ -42,7 +42,7 @@ height = heights[argmin(abs.(u_vert))]
 # Plot the relationship just to see - compare force to weight of humanoid
 weight = sum(model.body_mass) * norm(model.opt.gravity)
 
-fig = Figure(resolution=(600,400))
+fig = Figure(size=(600,400))
 ax = Axis(fig[1,1], xlabel="Vertical offsets (mm)", ylabel="Vertical force (N)")
 lines!(ax, heights*1000, u_vert)
 lines!(ax, heights*1000, weight*ones(length(heights)), linestyle=:dash)

ext/VisualiserExt/VisualiserExt.jl

@@ -17,7 +17,6 @@ if isdefined(Base, :get_extension)
     using FFMPEG
     using GLFW: GLFW, Window, Key, Action, MouseButton, GetKey, RELEASE, PRESS, REPEAT
     using Observables: Observable, on, off
-    using PrettyTables: pretty_table
     using Printf: @printf
     using StaticArrays
     using UnsafeArrays: UnsafeArray
@@ -33,7 +32,6 @@ else
     using ..FFMPEG
     using ..GLFW: GLFW, Window, Key, Action, MouseButton, GetKey, RELEASE, PRESS, REPEAT
     using ..Observables: Observable, on, off
-    using ..PrettyTables: pretty_table
     using ..Printf: @printf
     using ..StaticArrays
     using ..UnsafeArrays: UnsafeArray

ext/VisualiserExt/functions.jl

@@ -97,8 +97,8 @@ function writedescription!(io, hs::Union{Vector{EventHandler},Vector{<:NamedTupl
 
         w1 = min(w1max, div(ncols, 2))
         w2 = min(w2max, ncols - w1 - 4 * length(header)) # each column is padded by 4 spaces
-        pretty_table(
-            io, hcat(whens, whats); 
+        custom_pretty_table(
+            io, whens, whats,
             header=["Command", "Description"],
             alignment = [:c, :l],
             linebreaks = true, 
@@ -212,3 +212,130 @@ function setpause!(ui::UIState, p::PhysicsState, status::Bool)
     ui.paused = status
     return ui
 end
+
+"""
+    custom_pretty_table(io, col1, col2; header=nothing, alignment=nothing, columns_width=nothing, kwargs...)
+
+Custom implementation of pretty_table for backwards compatibility.
+This function handles two-column tables with proper alignment and truncation.
+Takes two vectors as input for the columns.
+"""
+function custom_pretty_table(io::IO, col1::AbstractVector, col2::AbstractVector; 
+                            header=nothing, 
+                            alignment=nothing, 
+                            columns_width=nothing, 
+                            linebreaks=false, 
+                            autowrap=false, 
+                            kwargs...)
+
+    # Ensure both columns have the same length
+    if length(col1) != length(col2)
+        error("custom_pretty_table requires both column vectors to have the same length")
+    end
+
+    nrows = length(col1)
+
+    # Set default column widths if not provided
+    if columns_width === nothing
+        _, terminal_cols = get_terminalsize()
+        # Reserve space for separators and padding: " | " = 3 chars
+        available_width = terminal_cols - 3
+        columns_width = [div(available_width, 2), div(available_width, 2)]
+    end
+
+    w1, w2 = columns_width
+
+    # Set default alignment if not provided
+    if alignment === nothing
+        alignment = [:l, :l]  # left align both columns by default
+    end
+
+    # Helper function to truncate text to fit width
+    function truncate_text(text::AbstractString, width::Int)
+        if length(text) <= width
+            return text
+        else
+            return text[1:max(1, width-3)] * "..."
+        end
+    end
+
+    # Helper function to wrap text
+    function wrap_text(text::AbstractString, width::Int)
+        if !autowrap || length(text) <= width
+            return [truncate_text(text, width)]
+        end
+
+        lines = String[]
+        remaining = string(text)
+        while length(remaining) > width
+            # Find a good break point (space or punctuation)
+            break_point = width
+            for i in min(width, length(remaining)):-1:max(1, width÷2)
+                if remaining[i] in [' ', '\t', '-', ',', '.', ';', ':', '!', '?']
+                    break_point = i
+                    break
+                end
+            end
+
+            push!(lines, truncate_text(remaining[1:break_point], width))
+            remaining = lstrip(remaining[break_point+1:end])
+        end
+        if !isempty(remaining)
+            push!(lines, truncate_text(remaining, width))
+        end
+        return lines
+    end
+
+    # Helper function to align text within a given width
+    function align_text(text::AbstractString, width::Int, align::Symbol)
+        text = truncate_text(text, width)
+        if align == :c || align == :center
+            padding = width - length(text)
+            left_pad = div(padding, 2)
+            right_pad = padding - left_pad
+            return " "^left_pad * text * " "^right_pad
+        elseif align == :r || align == :right
+            return lpad(text, width)
+        else  # :l or :left (default)
+            return rpad(text, width)
+        end
+    end
+
+    # Print header if provided
+    if header !== nothing && length(header) >= 2
+        col1_header = align_text(string(header[1]), w1, alignment[1])
+        col2_header = align_text(string(header[2]), w2, alignment[2])
+        println(io, col1_header * " | " * col2_header)
+
+        # Print separator line
+        sep1 = "-"^w1
+        sep2 = "-"^w2
+        println(io, sep1 * "-+-" * sep2)
+    end
+
+    # Print data rows
+    for i in 1:nrows
+        col1_text = string(col1[i])
+        col2_text = string(col2[i])
+
+        # Handle text wrapping
+        col1_lines = wrap_text(col1_text, w1)
+        col2_lines = wrap_text(col2_text, w2)
+
+        # Determine the number of lines needed for this row
+        max_lines = max(length(col1_lines), length(col2_lines))
+
+        # Print each line of the row
+        for line_idx in 1:max_lines
+            col1_line = line_idx <= length(col1_lines) ? col1_lines[line_idx] : ""
+            col2_line = line_idx <= length(col2_lines) ? col2_lines[line_idx] : ""
+
+            col1_aligned = align_text(col1_line, w1, alignment[1])
+            col2_aligned = align_text(col2_line, w2, alignment[2])
+
+            println(io, col1_aligned * " | " * col2_aligned)
+        end
+    end
+
+    return nothing
+end

ext/VisualiserExt/util.jl

@@ -43,9 +43,9 @@ function startffmpeg(w::Integer, h::Integer, rout::Integer; squashoutput::Bool =
     FFMPEG.@ffmpeg_env begin
         indata = Base.PipeEndpoint()
         if squashoutput
-            p = Base._spawn(`$(FFMPEG.ffmpeg) $arg`, Base.SpawnIO[indata, devnull, devnull])
+            p = Base._spawn(`$(FFMPEG.ffmpeg) $arg`, Base.Redirectable[indata, devnull, devnull])
         else
-            p = Base._spawn(`$(FFMPEG.ffmpeg) $arg`, Base.SpawnIO[indata, stdout, stderr])
+            p = Base._spawn(`$(FFMPEG.ffmpeg) $arg`, Base.Redirectable[indata, stdout, stderr])
         end
         p.in = indata
         return p, dst

src/MuJoCo.jl

@@ -9,7 +9,7 @@ using .LibMuJoCo
 # Re-export non polluting symbols of LibMuJoCo
 begin
     exported_prefixes = ["mj_", "mju_", "mjv_", "mjr_", "mjui_", "mjd_", "mjp_", "mjr", "mjt"]
-    for name in names(LibMuJoCo; all = true)
+    for name in names(LibMuJoCo; all=true)
         name_str = string(name)
         if any(startswith(name_str, prefix) for prefix in exported_prefixes) && !endswith(name_str, "_")
             @eval export $name
@@ -21,15 +21,15 @@ include("carray.jl")
 export mj_array, mj_zeros
 
 module Wrappers
-    using ..LibMuJoCo
-    import ..Utils
-    include("wrappers.jl")
-    include("visualiser_wrappers.jl")
-    include("named_access.jl")    
-    using .NamedAccess
-
-    # Fix for https://github.com/JamieMair/MuJoCo.jl/issues/120
-    Base.transpose(x::LibMuJoCo.mjContact_) = x
+using ..LibMuJoCo
+import ..Utils
+include("wrappers.jl")
+include("visualiser_wrappers.jl")
+include("named_access.jl")
+using .NamedAccess
+
+# Fix for https://github.com/JamieMair/MuJoCo.jl/issues/120
+Base.transpose(x::LibMuJoCo.mjContact_) = x
 end
 using .Wrappers
 using .Wrappers.NamedAccess
@@ -78,8 +78,8 @@ export Model, Data
 
 include("visualiser.jl")
 
-const MODEL_TYPES = Union{Model, NamedAccess.NamedModel}
-const DATA_TYPES = Union{Data, NamedAccess.NamedData}
+const MODEL_TYPES = Union{Model,NamedAccess.NamedModel}
+const DATA_TYPES = Union{Data,NamedAccess.NamedData}
 
 import .Visualiser: visualise!
 
@@ -160,7 +160,7 @@ Resets the data struct to values in the supplied keyframe.
 
 If no keyframe is specified, the first keyframe is used. The keyframe is a 1-based index into the list supplied by the model's specification.
 """
-resetkey!(m::Model, d::Data, keyframe::Integer) = mj_resetDataKeyframe(m, d, keyframe-1)
+resetkey!(m::Model, d::Data, keyframe::Integer) = mj_resetDataKeyframe(m, d, keyframe - 1)
 
 """
     timestep(model::MODEL_TYPES)
@@ -180,7 +180,7 @@ The state vector is [joint positions, joint velocities, actuator states] with di
 See also [`mj_getState`](@ref) and [`set_physics_state!`](@ref).
 """
 function get_physics_state(m::Model, d::Data)
-    x = mj_zeros(m.nq+m.nv+m.na)
+    x = mj_zeros(m.nq + m.nv + m.na)
     mj_getState(m, d, x, Int(LibMuJoCo.mjSTATE_PHYSICS))
     return transpose(x)
 end
@@ -217,12 +217,11 @@ the visualisation features, or run "install_visualiser()".
 - FFMPEG
 - GLFW
 - Observables
-- PrettyTables
 - Printf
 - StaticArrays
 """
 function init_visualiser()
-    @eval Main using BangBang, FFMPEG, GLFW, Observables, PrettyTables, Printf, StaticArrays
+    @eval Main using BangBang, FFMPEG, GLFW, Observables, Printf, StaticArrays
     if isdefined(Base, :get_extension)
         @eval Main Base.retry_load_extensions()
     end
@@ -239,27 +238,26 @@ into the current running environment.
 - FFMPEG
 - GLFW
 - Observables
-- PrettyTables
 - Printf
 - StaticArrays
 """
 function install_visualiser()
     @eval Main import Pkg
-    @eval Main Pkg.add(["BangBang", "FFMPEG", "GLFW", "Observables", "PrettyTables", "Printf", "StaticArrays"])
+    @eval Main Pkg.add(["BangBang", "FFMPEG", "GLFW", "Observables", "Printf", "StaticArrays"])
 end
 
 @static if !isdefined(Base, :get_extension)
-function __init__()
-    @static if !isdefined(Base, :get_extension)
-        @require BangBang = "198e06fe-97b7-11e9-32a5-e1d131e6ad66" begin 
-            @require FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" begin
-                @require GLFW = "f7f18e0c-5ee9-5ccd-a5bf-e8befd85ed98" begin
-                    @require Observables = "510215fc-4207-5dde-b226-833fc4488ee2" begin
-                        @require PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d" begin
+    function __init__()
+        @static if !isdefined(Base, :get_extension)
+            @require BangBang = "198e06fe-97b7-11e9-32a5-e1d131e6ad66" begin
+                @require FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" begin
+                    @require GLFW = "f7f18e0c-5ee9-5ccd-a5bf-e8befd85ed98" begin
+                        @require Observables = "510215fc-4207-5dde-b226-833fc4488ee2" begin
                             @require Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7" begin
                                 @require StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" begin
                                     include("../ext/VisualiserExt/VisualiserExt.jl")
                                 end
+
                             end
                         end
                     end
@@ -268,6 +266,5 @@ function __init__()
         end
     end
 end
-end
 
 end