This branch contains some major changes in the pydy.viz module. Which I am listing here. I am opening this Pull request to have a final review before it is merged. @moorepants @chrisdembia @jcrist @srjoglekar246

P.S: I am working on JS-Testing in a separate branch #74 I plan to get this one merged once that is complete, and merged into motion-view-dev.

New Features:

• A new, better UI.
• Integration with IPython notebooks. For rendering the visualizer inside the IPython notebooks, simply call scene.display_ipython from a notebook. (Works only on latest master of IPython).
• Now rendered objects can be modified from the UI itself(using edit objects button in UI), and new JSON will be generated, which can be viewed by clicking view model button in UI.
• Added a new property "material" to the rendered shapes (Shape object).
• Allows rerunning the simulations(after changing the simulation parameters) from the visualizer itself. This feature is partially implemented, but will be fully functional once System class comes in.
• Javascript backend completely modified. Now it is object oriented using Prototype.js.

Instructions for building this branch with latest IPython, and testing the new features:

1. Cloning and installing latest IPython:

   $ git clone https://github.com/ipython/ipython ipython-dev $ cd ipython-dev $ git submodule update $ pip install -e ".[notebook]"

2. get this branch from git repo:

   $ cd to pydy-repo $ git checkout --track origin/motion-view-dev

3. Add it to PYTHONPATH.

   $ export PYTHONPATH="/your/pydy/repo/:$PYTHONPATH"

4. Now you can check out the double_pendulum example.

   • cd to examples/double_pendulum
   • comment out the last line in visualize.py, this one: https://github.com/pydy/pydy/blob/motion-view-dev/examples/double_pendulum/visualize.py#L64
   • open $ ipython notebook
   • from the notebook call:

   from visualize import * scene.display_ipython()

Please feel free to contact me, if there are any difficulties!!

Conda method for testing:

$ conda create -n new-pydy-viz numpy scipy matplotlib theano cython sympy
$ source activate new-pydy-viz
(new-pydy-viz)$ conda remove ipython  # conda automatically installs ipython into envs
(new-pydy-viz)$ git clone https://github.com/ipython/ipython
(new-pydy-viz)$ cd ipython
(new-pydy-viz)$ git submodule update
(new-pydy-viz)$ pip install -e ".[notebook]"
(new-pydy-viz)$ cd ..
(new-pydy-viz)$ git clone https://github.com/pydy/pydy
(new-pydy-viz)$ cd pydy 
(new-pydy-viz)$ git checkout --track origin/motion-view-dev
(new-pydy-viz)$ cd examples/double_pendulum
(new-pydy-viz)$ ipython notebook

TODOS(based on suggestions in this conversation):

I have copied original suggestions to maintain the context.

• [x] Update sphinx docs.
• [x] Users should not need to set PYTHONPATH.
• [x] Commit an ipython notebook for the double_pendulum example.
• [x] The model isn't loaded by default, you have to press "Load Simulation". It's nice that the file path is there, but I think it should load the scene when you call "display_ipython".
• [x] There are two boxes for editing the simulation parameters. There should be only one.
• [x] Also this needs to handle 0 to 100-1000 parameters. The simple models on a have a few parameters, but most models have hundreds if not thousands. We probably don't want to display them all to the screen, but maybe let the user scroll through them somehow.
• [x] The time indicator jumps from 1 to 2 decimal places. Make sure to use a formatter so this always has the same # decimals. Also you should set the decimals based on the min and max time. Some simulations may run at 100000 hz, some may run at 10 hz. We will need a way to speed up and slow down the simulation. It should default to running at real time.
• [x] I liked the time bar indicator. It would be cool to have that and it be drag-able.
• [x] The loop checkbox is missing. I like that feature.
• [x] It is not clear what the "Show Model" button is supposed to do. I though it would make the scene load at first but that didn't happen.
• [ ] I like the object editor, that works nice! how the little menu pops up after selecting the object. The color doesn't seem to change the color. It would be cool if you can rotate and translate the objects relative to their default position here too. I think MG View allows that.
• [x] The rerun simulation button doesn't seem to work.

Some final TODOs before merge(as discussed with @chrisdembia ), with priorities:

• [x] 5 cube
• [x] 1 decimal places
• [x] 3 remove mesh from dropdown
• [x] 4 remove double default from dropdown
• [x] 2 default dimensions
• [x] 8 play pause
• [x] 6 sharp UI
• [x] 7 blink
• [x] Integrate with System class
• [x] Merge JS-Tests
• [x] Repeated pressing of pause and/or stop have issues.
• [x] When you rerun simulation, do you have to then press "load simulation"
• [ ] Wasn't the load sim button a file selection dialog before?
• [x] If you change model parameters, rerun, and then load the sim it seems like the order of the model parameters changes. If you reload the notebook cell, then the parameter order changed. There is something fishy going on there and you are changing the wrong parameters.
• [x] The stop button disappears when the simulation is running.
• [x] Everytime you load a sim in the directory it asks to overwrite the static directory. This shouldn't work like that if you have data files in there. We don't want to erase data files. They need to be preserved so you can load them for future use. We only want to erase the other generated files. What is the purpose of the static dir? Just for data files or also for the html/css/js stuff?
• [x] Dragging the time slider while the animation is playing doesn't work. Either you should be allowed to do that or it will move you to a new place in the animation and keeping playing from there.
• [x] If you Play the sim, then pause it, then drag the slider, then play it again doesn't start playing fro where you moved the slider. It plays from where you moved the slider from.
• [ ] Changing the color doesn't always work for the shape.
• [x] If the shape is blue the blinking blue isn't that useful to know what you are editing.
• [x] The stop button dissappears when the sim is playing but reruning the notebook cell doesn't fix it. I would think that reruning the notebook cell would rebuild the widget and everything would be as new.
• [x] It would be cool to render the parameters with mathjax so they should their mathematical representation in the notebook.
• [x] If you slide the slider when the animation is not playing, then you press play the animation starts from the initial time instead of where the slider is at.
• [x] If you select "edit objects" and select a shape then change the color and press apply, the color of the shape does not change. I think this is related to the "default" material only.
• [ ] I think it would be better if the JSON dialog box was below the scene visualization. Right now, it pushes the scene down the screen, which is odd.
• [ ] It'd be nice to have xyz labels on the global axes, and ideally the axes/labels could be toggled with a checkbox.
• [x] The user should be able to modify the initial conditions and time array via the GUI so that it is easier to rerun simulations.
• [ ] The user should be able to specify custom filenames in the GUI and save a simulation after they fiddled with the simulation parameters via the GUI.
• [x] Scene.display() no longer seems to open up the scene into a new browser tab, the user has to do it manually.

@moorepants, can add your tests to this branch? From this point I'll write code in a test-driven way. It'd be fun to continue to work on this together, but I'm also happy to do the coding and you can review afterwards (if you're busy, etc.).

• [ ] ~~Edit Scene so that it takes in a System. @tarzzz ?~~
• [ ] ~~Make KanesMethod and LagrangesMethod derive from a single abstract base class (ABC), perhaps MechanicsMethod. This ABC will be required to provide certain attributes. EDIT: Let's not do this now? [Jason: I'd wait on this too, it isn't necessary]~~
• [x] Clean up docstrings of System. I'm not sure what to put in the class docstring vs the constructor docstring vs the property docstrings. I am duplicating some information right now. @moorepants @tarzzz @jcrist ?
• [x] Write tests for constants, initial_conditions, ode_solver
• [x] Finish tests for complex settings of the specifieds. @moorepants ?
• [x] Rewrite specifieds to work with the new generate_ode_func args. @chrisdembia, @moorepants ?
• [x] Finish testing of generate_ode_function, integrate. @moorepants?
• [ ] Ensure that this class is useful for @jcrist . @jcrist ?
• [x] Finish setters for constants, specifieds, initial_conditions, ode_solver @chrisdembia
• [x] Test using the constants, specifieds and initial-conditions properties as dicts
• [ ] ~~Rewrite so that generate_ode_function takes a system. This may take a lot of work, since right now System is what calls generate_ode_function.~~
• [x] Make nice sphinx docs.
• [ ] Convert examples to use System.
• [ ] ~~Revert generate_ode_function to original call signature and move the specified and constants dict parsing to the System class.~~
• [ ] All models in codegen.tests.models should return Systems

Addresses https://github.com/pydy/pydy/issues/38 I got 2 of the examples (mass_spring_damper, three_link_conical_pendulum) to run with Python 3.4.2.

• [x] There are no merge conflicts.
• [x] If there is a related issue, a reference to that issue is in the commit message.
• [x] Unit tests have been added for the new feature.
• [x] The PR passes tests both locally (run nosetests) and on Travis CI.
• [x] All public methods and classes have docstrings. (We use the numpydoc format.)
• [x] An explanation has been added to the online documentation. (docs directory)
• [x] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [x] The new feature is documented in the Release Notes.
• [x] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [x] All reviewer comments have been addressed.

Fixes #156 Fixes #188

• [ ] There are no merge conflicts.
• [ ] If there is a related issue, a reference to that issue is in the commit message.
• [ ] Unit tests have been added for the bug. (Please reference the issue # in the unit test.)
• [ ] The tests pass both locally (run nosetests) and on Travis CI.
• [ ] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [ ] The bug fix is documented in the Release Notes.
• [ ] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [ ] All reviewer comments have been addressed.

Issue by moorepants from Monday Feb 24, 2014 at 19:16 GMT Originally opened as https://github.com/pydy/pydy-viz/issues/113

We've found this by trying to run the notebooks in the pydy pycon tutorial.

One issue is that if you have a notebook open in a non-default system web browser then run scene.display() it tries to open a new tab in the default browser which may or may not be open.

Here are some notes:

Windows XP 32bit (in virtual box)

• Firefox 27.0.1 (set as default) the canvas does not load.
• Chrome Version 33.0.1750.117 m everything works.

Windows 7 64 bit (in virtual box)

• Chrome 35 (canary) works
• Internet Explorer 11 works but all css styling is missing.
• Internet Explorer 10 didn't work (but maybe be because tab tried to open in default browser)
• Firefox 27.0 the canvas is not loading
• Firefox 17.0 the canvas is not loading

Windows 7 Professional 64 bit (real machine)

• Firefox 17.0 ESR works
• Internet Explorer 10 seems to require admin permissions to open the visualization server (if you don't have them).
• Internet Explorer 10 opens an unstyled page with no webgl animation. This is to be expected because IE 10 doesn't support webgl.
• Chrome 43.0.2357.124 m works
• Firefox 36.0.3 works

Ubuntu 13.10

• Firefox 27.0 works
• Chromium Version 32.0.1700.102 Ubuntu 13.10 (32.0.1700.102-0ubuntu0.13.10.1~20140128.970.1) works

Ubuntu 14.04 64 bit

• Chromium 43.0.2357.81 does not work (Webgl isn't available)
• Chrome
• Firefox 38 works

Ubuntu 14.10 (Python 3.4)

• Chrome 44.0.2403.39 beta (64-bit)

OSX Mavericks

• Safari 7 doesn't load the canvas.
• Works on Firefox 27.0.1
• Get lots of JS errors (like socket errors) on Chrome 33.0.1750.152

OSX Yosemite (Python 3.4)

• Chrome 43.0.2357.124 (64-bit)

3D n body pendulum, where the bodies can rotate around the massless rods connecting one body to the next one. If they hit each other, they are ideally elastic and slick. Visualisation using pythreejs.

Please edit below based on the type of PR. It is then the duty of reviewers to check off the items as they are completed. If any questions are not relevant to your particular pull request, a reviewer will simply check it off as done.

Example

• [ ] There are no merge conflicts with the master branch.
• [x] Examples rst file is placed in docs/examples/.
• [ ] An entry with a 200x200 pixel image has been added to docs/index.rst.
• [ ] RsT and image filenames are kebab-case (lower case hyphen-separated).
• [x] jupyter_sphinx RsT directives are used to ensure example is executed on build.
• [x] jupyter_sphinx ipynb and py download links are included.
• [ ] The example has adequate text and figures (preferably SVG) explaining the problem.
• [ ] All reviewer comments have been addressed.

bootstrap is already imported for ipython notebook, thus, we don't need to Fixes #209 Fixes #227 Fixes #203

• [x] There are no merge conflicts.
• [x] If there is a related issue, a reference to that issue is in the commit message.
• [ ] Unit tests have been added for the bug. (Please reference the issue # in the unit test.)
• [ ] The tests pass both locally (run nosetests) and on Travis CI.
• [ ] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [ ] The bug fix is documented in the Release Notes.
• [x] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [x] All reviewer comments have been addressed.

• [x] There are no merge conflicts.
• [x] If there is a related issue, a reference to that issue is in the commit message.
• [x] Unit tests have been added for the new feature.
• [x] The PR passes tests both locally (run nosetests) and on Travis CI.
• [x] All public methods and classes have docstrings. (We use the numpydoc format.)
• [x] An explanation has been added to the online documentation. (docs directory)
• [x] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [x] The new feature is documented in the Release Notes.
• [x] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [x] All reviewer comments have been addressed.

• This PR is in correspondence to issue #243 and contains work on a newly added file under the directory structure as : pydy/viz/tests/test_server.py
• These tests are for the file : pydy/viz/server.py

Please edit below based on the type of PR. It is then the duty of reviewers to check off the items as they are completed. If any questions are not relevant to your particular pull request, a reviewer will simply check it off as done.

Example

• [ ] There are no merge conflicts with the master branch.
• [ ] Examples rst file is placed in docs/examples/.
• [ ] An entry with a 200x200 pixel image has been added to docs/index.rst.
• [ ] RsT and image filenames are kebab-case (lower case hyphen-separated).
• [ ] jupyter_sphinx RsT directives are used to ensure example is executed on build.
• [ ] jupyter_sphinx ipynb and py download links are included.
• [ ] The example has adequate text and figures (preferably SVG) explaining the problem.
• [ ] All reviewer comments have been addressed.

Fixes #35 Fixes #202

• [x] There are no merge conflicts.
• [x] If there is a related issue, a reference to that issue is in the commit message.
• [x] Unit tests have been added for the bug. (Please reference the issue # in the unit test.)
• [x] The tests pass both locally (run nosetests) and on Travis CI.
• [x] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [x] The bug fix is documented in the Release Notes.
• [x] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [x] All reviewer comments have been addressed.

Please edit below based on the type of PR. It is then the duty of reviewers to check off the items as they are completed. If any questions are not relevant to your particular pull request, a reviewer will simply check it off as done.

New Feature

• [ ] There are no merge conflicts.
• [ ] If there is a related issue, a reference to that issue is in the commit message.
• [ ] Unit tests have been added for the new feature.
• [ ] The PR passes tests both locally (run nosetests) and on Travis CI.
• [ ] All public methods and classes have docstrings. (We use the numpydoc format.)
• [ ] An explanation has been added to the online documentation. (docs directory)
• [ ] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [ ] The new feature is documented in the Release Notes.
• [ ] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [ ] All reviewer comments have been addressed.

Bug Fix

• [ ] There are no merge conflicts.
• [ ] If there is a related issue, a reference to that issue is in the commit message.
• [ ] Unit tests have been added for the bug. (Please reference the issue # in the unit test.)
• [ ] The tests pass both locally (run nosetests) and on Travis CI.
• [ ] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [ ] The bug fix is documented in the Release Notes.
• [ ] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [ ] All reviewer comments have been addressed.

Example

• [ ] There are no merge conflicts with the master branch.
• [ ] Examples rst file is placed in docs/examples/.
• [ ] An entry with a 200x200 pixel image has been added to docs/index.rst.
• [ ] RsT and image filenames are kebab-case (lower case hyphen-separated).
• [ ] jupyter_sphinx RsT directives are used to ensure example is executed on build.
• [ ] jupyter_sphinx ipynb and py download links are included.
• [ ] The example has adequate text and figures (preferably SVG) explaining the problem.
• [ ] All reviewer comments have been addressed.

The python code pydy.viz.shapes.py provides support for Box shapes but the type was not supported by the javascript code. This pull request add support for this, including the possibility to edit the parameters in the GUI when selecting Edit Objects.

I can try to add documentation and unittests but I will wait for your opinion.

Below is a sample code to test the feature (it might need a "Shift-F5" to reload the javascript from the browser's cache):

import sympy as sp
from sympy.physics.mechanics import Point, ReferenceFrame
from pydy.viz.scene import Scene
from pydy.viz.shapes import Box
from pydy.viz.visualization_frame import VisualizationFrame

frame = ReferenceFrame('e')
point = Point('A')

box = Box(width=4, height=2, depth=0.5, color='blue', name='testbox')
vizf = VisualizationFrame('vizbox',frame, point, box)
scene = Scene(frame, point, vizf)
scene.constants = {}
scene.states_symbols = [sp.Symbol('x')]
scene.states_trajectories = np.zeros((2,1))
scene.times = np.array([0.,1.0])
scene.display()

New Feature

• [x] There are no merge conflicts.
• [ ] If there is a related issue, a reference to that issue is in the commit message.
• [ ] Unit tests have been added for the new feature.
• [ ] The PR passes tests both locally (run nosetests) and on Travis CI.
• [ ] All public methods and classes have docstrings. (We use the numpydoc format.)
• [ ] An explanation has been added to the online documentation. (docs directory)
• [ ] The code follows PEP8 guidelines. (use a linter, e.g. pylint, to check your code)
• [ ] The new feature is documented in the Release Notes.
• [ ] The code is backwards compatible. (All public methods/classes must follow deprecation cycles.)
• [ ] All reviewer comments have been addressed.

https://vibgyorpublishers.org/content/ijre/fulltext.php?aid=ijre-5-028 equation of motion of 2dof arm is not same as EOM developed by using lagrangian methond in sympy

https://nbviewer.org/github/pydy/pydy/blob/master/examples/differential_drive/Differential%20Drive.ipynb

Please edit below based on the type of PR. It is then the duty of reviewers to check off the items as they are completed. If any questions are not relevant to your particular pull request, a reviewer will simply check it off as done.

Example

• [ ] There are no merge conflicts with the master branch.
• [ ] Examples rst file is placed in docs/examples/.
• [ ] An entry with a 200x200 pixel image has been added to docs/index.rst.
• [ ] RsT and image filenames are kebab-case (lower case hyphen-separated).
• [ ] jupyter_sphinx RsT directives are used to ensure example is executed on build.
• [ ] jupyter_sphinx ipynb and py download links are included.
• [ ] The example has adequate text and figures (preferably SVG) explaining the problem.
• [ ] All reviewer comments have been addressed.

Please edit below based on the type of PR. It is then the duty of reviewers to check off the items as they are completed. If any questions are not relevant to your particular pull request, a reviewer will simply check it off as done.

Example

• [ ] There are no merge conflicts with the master branch.
• [ ] Examples rst file is placed in docs/examples/.
• [ ] An entry with a 200x200 pixel image has been added to docs/index.rst.
• [ ] RsT and image filenames are kebab-case (lower case hyphen-separated).
• [ ] jupyter_sphinx RsT directives are used to ensure example is executed on build.
• [ ] jupyter_sphinx ipynb and py download links are included.
• [ ] The example has adequate text and figures (preferably SVG) explaining the problem.
• [ ] All reviewer comments have been addressed.