Switch from gr to pyplot in examples.

Because of GKS-related errors.

docs/Manifest.toml

@@ -1,14 +1,14 @@
 # This file is machine-generated - editing it directly is not advised
 
+[[Artifacts]]
+deps = ["Pkg"]
+git-tree-sha1 = "c30985d8821e0cd73870b17b0ed0ce6dc44cb744"
+uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
+version = "1.3.0"
+
 [[Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
-[[BinaryProvider]]
-deps = ["Libdl", "Logging", "SHA"]
-git-tree-sha1 = "ecdec412a9abc8db54c0efc5548c64dfce072058"
-uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232"
-version = "0.5.10"
-
 [[Dates]]
 deps = ["Printf"]
 uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
@@ -39,6 +39,11 @@ version = "0.1.1"
 deps = ["Markdown"]
 uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
+[[JLLWrappers]]
+git-tree-sha1 = "a431f5f2ca3f4feef3bd7a5e94b8b8d4f2f647a0"
+uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
+version = "1.2.0"
+
 [[JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
 git-tree-sha1 = "81690084b6198a2e1da36fcfda16eeca9f9f24e4"
@@ -52,11 +57,17 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
+[[Libiconv_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "8e924324b2e9275a51407a4e06deb3455b1e359f"
+uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
+version = "1.16.0+7"
+
 [[LightXML]]
-deps = ["BinaryProvider", "Libdl"]
-git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d"
+deps = ["Libdl", "XML2_jll"]
+git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.8.1"
+version = "0.9.0"
 
 [[LinearAlgebra]]
 deps = ["Libdl"]
@@ -138,9 +149,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "da4cf579416c81994afd6322365d00916c79b8ae"
+git-tree-sha1 = "9da72ed50e94dbff92036da395275ed114e04d49"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "0.12.5"
+version = "1.0.1"
 
 [[Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -163,6 +174,18 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[UnsafeArrays]]
-git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6"
+git-tree-sha1 = "be71ca7d62a9d61ecaa20e2d0e1920b791623626"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.1"
+version = "1.0.2"
+
+[[XML2_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
+git-tree-sha1 = "be0db24f70aae7e2b89f2f3092e93b8606d659a6"
+uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
+version = "2.9.10+3"
+
+[[Zlib_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "320228915c8debb12cb434c59057290f0834dbf6"
+uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
+version = "1.2.11+18"

examples/4. Jacobian IK and Control/4. Jacobian IK and Control.jl

@@ -184,8 +184,8 @@ setanimation!(vis, Animation(vis, ts, qs))
 
 # Now we can plot the behavior of the controller. The initial state is quite far from the target, so there's some significant overshoot early in the trajectory, but the controller eventually settles into tracking the desired circular path. This controller isn't very well-tuned, and we could certainly do better with a more advanced approach, but this is still a nice demonstration of a very simple control policy.
 
-using Plots: gr, plot
-gr()
+using Plots: pyplot, plot
+pyplot()
 
 xs = Float64[]
 zs = Float64[]

examples/4. Jacobian IK and Control/Manifest.toml

@@ -2,9 +2,9 @@
 
 [[Adapt]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "4146c39f29be88c3f0cef732f86e5ab640d2e22d"
+git-tree-sha1 = "ffcfa2d345aaee0ef3d8346a073d5dd03c983ebe"
 uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
-version = "3.1.1"
+version = "3.2.0"
 
 [[Artifacts]]
 deps = ["Pkg"]
@@ -74,6 +74,12 @@ git-tree-sha1 = "919c7f3151e79ff196add81d7f4e45d91bbf420b"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
 version = "3.25.0"
 
+[[Conda]]
+deps = ["JSON", "VersionParsing"]
+git-tree-sha1 = "c0647249d785f1d5139c0cc96db8f6b32f7ec416"
+uuid = "8f4d0f93-b110-5947-807f-2305c1781a2d"
+version = "1.5.0"
+
 [[Contour]]
 deps = ["StaticArrays"]
 git-tree-sha1 = "9f02045d934dc030edad45944ea80dbd1f0ebea7"
@@ -87,9 +93,9 @@ uuid = "150eb455-5306-5404-9cee-2592286d6298"
 version = "0.6.1"
 
 [[DataAPI]]
-git-tree-sha1 = "6d64b28d291cb94a0d84e6e41081fb081e7f717f"
+git-tree-sha1 = "dfb3b7e89e395be1e25c2ad6d7690dc29cc53b1d"
 uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
-version = "1.5.0"
+version = "1.6.0"
 
 [[DataStructures]]
 deps = ["Compat", "InteractiveUtils", "OrderedCollections"]
@@ -177,9 +183,9 @@ version = "1.0.0"
 
 [[HTTP]]
 deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets", "URIs"]
-git-tree-sha1 = "63055ee44b5c2b95ec1921edcf856c60124ff0c3"
+git-tree-sha1 = "942c1a9c750bbe79912b7bd060a420932afd35b8"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "0.9.2"
+version = "0.9.3"
 
 [[Hiccup]]
 deps = ["MacroTools", "Test"]
@@ -195,9 +201,9 @@ version = "0.5.0"
 
 [[InteractBase]]
 deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"]
-git-tree-sha1 = "2a7c0cc638f10b44e0e8b77b8f9a7f839ca853ba"
+git-tree-sha1 = "e63b4726c282829617de0f57ce1e4e050702439a"
 uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009"
-version = "0.10.5"
+version = "0.10.6"
 
 [[InteractiveUtils]]
 deps = ["Markdown"]
@@ -243,6 +249,11 @@ git-tree-sha1 = "df381151e871f41ee86cee4f5f6fd598b8a68826"
 uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d"
 version = "3.100.0+3"
 
+[[LaTeXStrings]]
+git-tree-sha1 = "c7aebfecb1a60d59c0fe023a68ec947a208b1e6b"
+uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
+version = "1.2.0"
+
 [[Lazy]]
 deps = ["MacroTools"]
 git-tree-sha1 = "1370f8202dac30758f3c345f9909b97f53d87d3f"
@@ -371,9 +382,9 @@ version = "0.3.3"
 
 [[OffsetArrays]]
 deps = ["Adapt"]
-git-tree-sha1 = "8fe8860da7427b10b996deaf1c8b9a7e96c00d05"
+git-tree-sha1 = "76622f08645764e040b4d7e86d0ff471fd126ae4"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "1.5.2"
+version = "1.5.3"
 
 [[Ogg_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -394,9 +405,9 @@ uuid = "91d4177d-7536-5919-b921-800302f37372"
 version = "1.3.1+3"
 
 [[OrderedCollections]]
-git-tree-sha1 = "d45739abcfc03b51f6a42712894a593f74c80a23"
+git-tree-sha1 = "4fa2ba51070ec13fcc7517db714445b4ab986bdf"
 uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
-version = "1.3.3"
+version = "1.4.0"
 
 [[Parameters]]
 deps = ["OrderedCollections", "UnPack"]
@@ -442,6 +453,18 @@ version = "1.0.14"
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
+[[PyCall]]
+deps = ["Conda", "Dates", "Libdl", "LinearAlgebra", "MacroTools", "Serialization", "VersionParsing"]
+git-tree-sha1 = "dd1a970b543bd02efce2984582e996af28cab27f"
+uuid = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0"
+version = "1.92.2"
+
+[[PyPlot]]
+deps = ["Colors", "LaTeXStrings", "PyCall", "Sockets", "Test", "VersionParsing"]
+git-tree-sha1 = "67dde2482fe1a72ef62ed93f8c239f947638e5a2"
+uuid = "d330b81b-6aea-500a-939a-2ce795aea3ee"
+version = "2.9.0"
+
 [[REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets"]
 uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
@@ -482,7 +505,7 @@ version = "1.1.2"
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
 path = "../.."
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.3.0"
+version = "2.3.1"
 
 [[Rotations]]
 deps = ["LinearAlgebra", "StaticArrays", "Statistics"]
@@ -531,9 +554,9 @@ uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [[StatsBase]]
 deps = ["DataAPI", "DataStructures", "LinearAlgebra", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics"]
-git-tree-sha1 = "7bab7d4eb46b225b35179632852b595a3162cb61"
+git-tree-sha1 = "400aa43f7de43aeccc5b2e39a76a79d262202b76"
 uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
-version = "0.33.2"
+version = "0.33.3"
 
 [[TableTraits]]
 deps = ["IteratorInterfaceExtensions"]
@@ -543,9 +566,9 @@ version = "1.0.0"
 
 [[Tables]]
 deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"]
-git-tree-sha1 = "8dc2bb7d3548e315d890706547b24502ed79504f"
+git-tree-sha1 = "a716dde43d57fa537a19058d044b495301ba6565"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.3.1"
+version = "1.3.2"
 
 [[Test]]
 deps = ["Distributed", "InteractiveUtils", "Logging", "Random"]
@@ -580,9 +603,14 @@ version = "1.0.2"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[UnsafeArrays]]
-git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6"
+git-tree-sha1 = "be71ca7d62a9d61ecaa20e2d0e1920b791623626"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.1"
+version = "1.0.2"
+
+[[VersionParsing]]
+git-tree-sha1 = "80229be1f670524750d905f8fc8148e5a8c4537f"
+uuid = "81def892-9a0e-5fdd-b105-ffc91e053289"
+version = "1.2.0"
 
 [[WebIO]]
 deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]

examples/4. Jacobian IK and Control/Project.toml

@@ -1,10 +1,10 @@
 [deps]
 Blink = "ad839575-38b3-5650-b840-f874b8c74a25"
-GR = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
 GeometryTypes = "4d00f742-c7ba-57c2-abde-4428a4b178cb"
 MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+PyPlot = "d330b81b-6aea-500a-939a-2ce795aea3ee"
 RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"