From c140e7701131f25f0580cd4a27d0f81fde10291c Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 16:11:07 +0200
Subject: [PATCH 01/17] Add simple test.

---
 benchmark/benchmarks.jl | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index f4e44152..f40f8fb1 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -1,4 +1,5 @@
 using BenchmarkTools
 
 SUITE = BenchmarkGroup()
-SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
\ No newline at end of file
+SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
+SUITE["sum2"] = @benchmarkable sum($(randn(10_000)))
\ No newline at end of file

From fe2d4e4e03b7ac05abb28af27c735a6c474a1721 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 16:25:32 +0200
Subject: [PATCH 02/17] Benchmark real example.

---
 benchmark/benchmarks.jl | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index f40f8fb1..687c661a 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -2,4 +2,9 @@ using BenchmarkTools
 
 SUITE = BenchmarkGroup()
 SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
-SUITE["sum2"] = @benchmarkable sum($(randn(10_000)))
\ No newline at end of file
+SUITE["sum2"] = @benchmarkable sum($(randn(10_000)))
+
+include("examples/atlas.jl")
+steps = Base.OneTo(1000)
+storage = Storage{Float64}(steps,length(mech.bodies))
+SUITE["atlastest"] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
\ No newline at end of file

From cc81ee01bd7c4dbb8a35527d6c85b3dcd69a95dd Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 16:32:53 +0200
Subject: [PATCH 03/17] Update path to benchmark examples.

---
 benchmark/benchmarks.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 687c661a..08c6e9d8 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -4,7 +4,7 @@ SUITE = BenchmarkGroup()
 SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
 SUITE["sum2"] = @benchmarkable sum($(randn(10_000)))
 
-include("examples/atlas.jl")
+include("../examples/atlas.jl")
 steps = Base.OneTo(1000)
 storage = Storage{Float64}(steps,length(mech.bodies))
 SUITE["atlastest"] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
\ No newline at end of file

From 06014737ee5e33b3321c4061c381849c21cb6864 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 16:51:39 +0200
Subject: [PATCH 04/17] Adjust MeshIO version for mesh displaying.

---
 Project.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Project.toml b/Project.toml
index 252fe863..b9b4ae5e 100644
--- a/Project.toml
+++ b/Project.toml
@@ -25,7 +25,7 @@ FileIO = "1.3.0"
 GeometryTypes = "0.7.10"
 LightXML = "0.9.0"
 MeshCat = "0.9.1"
-MeshIO = "0.4.0"
+MeshIO = "0.3.2"
 Plots = "1.0.14"
 Rotations = "0.13.0"
 StaticArrays = "0.12.3"

From 3dd29e84dece0129500e42094491cdc2be4ce2fd Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 16:53:06 +0200
Subject: [PATCH 05/17] Use test files for benchmark.

---
 benchmark/benchmarks.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 08c6e9d8..7ba3de64 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -4,7 +4,7 @@ SUITE = BenchmarkGroup()
 SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
 SUITE["sum2"] = @benchmarkable sum($(randn(10_000)))
 
-include("../examples/atlas.jl")
+include("../test/examples/atlas.jl")
 steps = Base.OneTo(1000)
 storage = Storage{Float64}(steps,length(mech.bodies))
 SUITE["atlastest"] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
\ No newline at end of file

From e7e3d32306c8648b97482a27a2e31b145412b628 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 17:39:59 +0200
Subject: [PATCH 06/17] Move allocation tests to benchmark tests.

---
 benchmark/benchmarks.jl | 42 ++++++++++++++++++---
 test/allocation_test.jl | 83 -----------------------------------------
 test/runtests.jl        |  4 --
 3 files changed, 36 insertions(+), 93 deletions(-)
 delete mode 100644 test/allocation_test.jl

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 7ba3de64..7f407388 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -1,10 +1,40 @@
 using BenchmarkTools
 
 SUITE = BenchmarkGroup()
-SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
-SUITE["sum2"] = @benchmarkable sum($(randn(10_000)))
 
-include("../test/examples/atlas.jl")
-steps = Base.OneTo(1000)
-storage = Storage{Float64}(steps,length(mech.bodies))
-SUITE["atlastest"] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
\ No newline at end of file
+files = [
+    "atlas"
+    "axes"
+    "chain_in_chain"
+    "dice_nofriction"
+    "dice_tiltedplane"
+    "dice"
+    "disconnected_bodies"
+    "doublependulum_3d"
+    "doublependulum_urdf"
+    "football"
+    "inverted_pyramid_plane"
+    "joint_force"
+    "joint_torque"
+    "n_fourbars"
+    "n_pendulum"
+    "nutation"
+    "pendulum_forced"
+    "pendulum"
+    "planar_example"
+    "scissor_lift"
+    "slider_crank"
+    "slider_crank3d"
+    "wheel"
+]
+
+for i=1:length(files)-1
+    include("../test/examples/"*files[i]*".jl")
+    steps = Base.OneTo(1000)
+    storage = Storage{Float64}(steps,length(mech.bodies))
+    if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control!) samples=1
+    else
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
+    end
+end
diff --git a/test/allocation_test.jl b/test/allocation_test.jl
deleted file mode 100644
index ad10d4aa..00000000
--- a/test/allocation_test.jl
+++ /dev/null
@@ -1,83 +0,0 @@
-using BenchmarkTools
-
-files = [
-    "atlas"
-    "axes"
-    "chain_in_chain"
-    "dice_nofriction"
-    "dice_tiltedplane"
-    "dice"
-    "disconnected_bodies"
-    "doublependulum_3d"
-    "doublependulum_urdf"
-    "football"
-    "inverted_pyramid_plane"
-    "joint_force"
-    "joint_torque"
-    "n_fourbars"
-    "n_pendulum"
-    "nutation"
-    "pendulum_forced"
-    "pendulum"
-    "planar_example"
-    "scissor_lift"
-    "slider_crank"
-    "slider_crank3d"
-    "wheel"
-]
-
-warningtimes = [
-    1000.0 # 562.9592
-    50.0 # 24.4849
-    500.0 # 275.3259
-    4000.0 # 873.5784
-    5000.0 # 1249.2964
-    4000.0 # 900.5005
-    50.0 # 18.3757
-    100.0 # 30.044299
-    100.0 # 37.420599
-    4000.0 # 1688.237801
-    500.0 # 227.109
-    100.0 # 32.286301
-    100.0 # 26.4995
-    4000.0 # 2069.365999
-    1000.0 # 519.0557
-    25.0 # 4.226299
-    25.0 # 11.376999
-    25.0 # 11.785099
-    100.0 # 45.874299
-    100.0 # 42.6032
-    100.0 # 59.4295
-    500.0 # 173.376601
-    10.0 # 0.0
-]*10
-
-time = zeros(length(files))
-
-c1 = maximum(length.(files))+2
-c2 = 9
-
-for i=1:length(files)-1
-    include("examples/"*files[i]*".jl")
-    steps = Base.OneTo(1000)
-    storage = Storage{Float64}(steps,length(mech.bodies))
-    if false        
-    # elseif files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
-        # TODO once zero alloc works
-        # t = @benchmarkable simulate!($mech, $steps, $storage, $control!)
-    else
-        t = @benchmarkable simulate!($mech, $steps, $storage)
-    end
-    r = BenchmarkTools.minimum(run(t, samples=1))
-    @test r.memory == 0
-    time[i] = r.time/1e6
-    @test time[i] < warningtimes[i]
-end
-
-println(" "^(c1-7)*" Files | Time")
-println("-"^(c1+c2+1))
-for i=1:length(files)
-    l = length(files[i])
-    println((" "^(c1-l-1))*files[i]*" | "*string(time[i]))
-end
-
diff --git a/test/runtests.jl b/test/runtests.jl
index 4a3bc78a..ff92c61a 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -24,8 +24,4 @@ end
 
 @safetestset "Example Tests" begin
     include("example_test.jl")
-end
-
-@safetestset "Allocation Tests" begin
-    include("allocation_test.jl")
 end
\ No newline at end of file

From e33d898b06752afe4afb326a7f4ae90b7725ce66 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 17:54:17 +0200
Subject: [PATCH 07/17] Update benchmark dependencies.

---
 benchmark/Project.toml | 3 ++-
 test/example_test.jl   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/benchmark/Project.toml b/benchmark/Project.toml
index 88c0dd90..9cf5ecdf 100644
--- a/benchmark/Project.toml
+++ b/benchmark/Project.toml
@@ -1,3 +1,4 @@
 [deps]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
-PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"
\ No newline at end of file
+PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
\ No newline at end of file
diff --git a/test/example_test.jl b/test/example_test.jl
index 53cd9945..a53a15e4 100644
--- a/test/example_test.jl
+++ b/test/example_test.jl
@@ -27,7 +27,7 @@ files = [
 ]
 
 for file in files
-    println(file)
+    # println(file)
     include("examples/"*file*".jl")
     if file=="joint_force" || file=="pendulum_forced" || file=="nutation" || file=="football"
         storage = simulate!(mech, 10., control!, record = true)

From 6f4007efcabe550316b9790ee8ff55635cbc0401 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 18:13:07 +0200
Subject: [PATCH 08/17] Try fix.

---
 .github/workflows/ci.yml | 4 +++-
 benchmark/benchmarks.jl  | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fb5a6fe2..2b320a74 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,10 +9,12 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ matrix.version == 'nightly' }}
+    continue-on-error: ${{ matrix.version == 'nightly' || matrix.version == '1.0' || matrix.version == '1.3'}}
     strategy:
       matrix:
         version:
+          - '1.0'
+          - '1.3'
           - '1.4'
           - 'nightly'
         os:
diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 7f407388..805ac1eb 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -33,7 +33,7 @@ for i=1:length(files)-1
     steps = Base.OneTo(1000)
     storage = Storage{Float64}(steps,length(mech.bodies))
     if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control!) samples=1
+        # SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control!) samples=1
     else
         SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
     end

From 41410e57d6bcdac5b96d804c1999f9f5dc4524f9 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 18:31:45 +0200
Subject: [PATCH 09/17] Change benchmark evals.

---
 Project.toml            | 2 +-
 benchmark/benchmarks.jl | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/Project.toml b/Project.toml
index b9b4ae5e..c78b4a2e 100644
--- a/Project.toml
+++ b/Project.toml
@@ -23,7 +23,7 @@ Colors = "0.11.2"
 CoordinateTransformations = "0.5.1"
 FileIO = "1.3.0"
 GeometryTypes = "0.7.10"
-LightXML = "0.9.0"
+LightXML = "0.8.1, 0.9.0"
 MeshCat = "0.9.1"
 MeshIO = "0.3.2"
 Plots = "1.0.14"
diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 805ac1eb..7381b1ec 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -30,11 +30,13 @@ files = [
 
 for i=1:length(files)-1
     include("../test/examples/"*files[i]*".jl")
-    steps = Base.OneTo(1000)
+    steps = Base.OneTo(100)
     storage = Storage{Float64}(steps,length(mech.bodies))
     if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
         # SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control!) samples=1
+    # elseif files[i]=="chain_in_chain"
+    #     #
     else
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1 evals=1
     end
 end

From 4e984a51186cf48ac0fc34f2c0fba32a49bdbc8b Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 18:43:56 +0200
Subject: [PATCH 10/17] Exclude some benchmark examples.

---
 .github/workflows/ci.yml | 3 +--
 Project.toml             | 2 +-
 benchmark/benchmarks.jl  | 4 ++--
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2b320a74..ebeb50c4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,11 +9,10 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ matrix.version == 'nightly' || matrix.version == '1.0' || matrix.version == '1.3'}}
+    continue-on-error: ${{ matrix.version == 'nightly'}}
     strategy:
       matrix:
         version:
-          - '1.0'
           - '1.3'
           - '1.4'
           - 'nightly'
diff --git a/Project.toml b/Project.toml
index c78b4a2e..f13916eb 100644
--- a/Project.toml
+++ b/Project.toml
@@ -29,7 +29,7 @@ MeshIO = "0.3.2"
 Plots = "1.0.14"
 Rotations = "0.13.0"
 StaticArrays = "0.12.3"
-julia = "1.4"
+julia = "1.3, 1.4"
 
 [extras]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 7381b1ec..fbf530e3 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -34,8 +34,8 @@ for i=1:length(files)-1
     storage = Storage{Float64}(steps,length(mech.bodies))
     if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
         # SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control!) samples=1
-    # elseif files[i]=="chain_in_chain"
-    #     #
+    elseif files[i]=="chain_in_chain"
+        #
     else
         SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1 evals=1
     end

From c3bbec08be5bb3671c7f7dfa354b214f501598d6 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 19:05:24 +0200
Subject: [PATCH 11/17] Rename benchmark control functions.

---
 benchmark/benchmarks.jl          | 4 ++--
 test/examples/football.jl        | 2 +-
 test/examples/joint_force.jl     | 2 +-
 test/examples/nutation.jl        | 2 +-
 test/examples/pendulum_forced.jl | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index fbf530e3..150125ef 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -33,10 +33,10 @@ for i=1:length(files)-1
     steps = Base.OneTo(100)
     storage = Storage{Float64}(steps,length(mech.bodies))
     if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
-        # SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $control!) samples=1
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $(eval(Meta.parse(files[i]*"_control!")))) samples=1
     elseif files[i]=="chain_in_chain"
         #
     else
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1 evals=1
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
     end
 end
diff --git a/test/examples/football.jl b/test/examples/football.jl
index 1497b4a3..7c7cf7fc 100644
--- a/test/examples/football.jl
+++ b/test/examples/football.jl
@@ -46,7 +46,7 @@ setPosition!(link4,link5,Δx = [0.;0.;0.03])
 
 spin = 0.35
 
-function control!(mechanism, k)
+function fottball_control!(mechanism, k)
     if k<25
         setForce!(link3, F = SA[0.;25.;25.], τ=spin*SA[0.2;0.2;1.])
     elseif k==40
diff --git a/test/examples/joint_force.jl b/test/examples/joint_force.jl
index 9a5c2f87..543fb7f7 100644
--- a/test/examples/joint_force.jl
+++ b/test/examples/joint_force.jl
@@ -34,7 +34,7 @@ links = [link1; link2]
 constraints = [joint0to1;joint1to2]
 shapes = [b1;b2]
 
-function control!(mechanism, k)
+function joint_force_control!(mechanism, k)
     F = SVector{2,Float64}(0.1,0.)
     setForce!(mechanism, joint1to2, F)
     return
diff --git a/test/examples/nutation.jl b/test/examples/nutation.jl
index a3048edb..d089ee8a 100644
--- a/test/examples/nutation.jl
+++ b/test/examples/nutation.jl
@@ -26,7 +26,7 @@ axis = [0;0;1.]
 speed = 20pi #*0
 setVelocity!(link1, ω = speed*axis)
 
-function control!(mechanism, k)
+function nutation_control!(mechanism, k)
     if k==1
         setForce!(mechanism.bodies[1], F = SA[0;0;2.], p=SA[0;1.;0])
     else
diff --git a/test/examples/pendulum_forced.jl b/test/examples/pendulum_forced.jl
index d328a4b9..33d5c25d 100644
--- a/test/examples/pendulum_forced.jl
+++ b/test/examples/pendulum_forced.jl
@@ -31,7 +31,7 @@ mech = Mechanism(origin, links, constraints, shapes = shapes)
 setPosition!(origin,link1,p2 = p2,Δq = q1)
 
 jointid = constraints[1].id
-function control!(mechanism, k)
+function pendulum_forced_control!(mechanism, k)
     τ = SVector{1,Float64}(cos(0.5 * k*0.01 * 2pi))
     setForce!(mechanism, geteqconstraint(mechanism,jointid), τ)
 end

From 0f46785bc74f8ccac310ac3a62a5d8ccd12759e4 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 19:10:14 +0200
Subject: [PATCH 12/17] Different attempt at test control function names.

---
 benchmark/benchmarks.jl | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index 150125ef..a20c9e3b 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -28,12 +28,15 @@ files = [
     "wheel"
 ]
 
+funcdict = Dict{Int64,Function}()
+
 for i=1:length(files)-1
     include("../test/examples/"*files[i]*".jl")
     steps = Base.OneTo(100)
     storage = Storage{Float64}(steps,length(mech.bodies))
     if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $(eval(Meta.parse(files[i]*"_control!")))) samples=1
+        funcdict[i] = eval(Meta.parse(files[i]*"_control!"))
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $funcdict[i]) samples=1
     elseif files[i]=="chain_in_chain"
         #
     else

From d4ac0026d858135faaa2336d7341718f81ed80f8 Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 19:15:19 +0200
Subject: [PATCH 13/17] Update test.

---
 test/example_test.jl      | 2 +-
 test/examples/football.jl | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/test/example_test.jl b/test/example_test.jl
index a53a15e4..a0389f48 100644
--- a/test/example_test.jl
+++ b/test/example_test.jl
@@ -30,7 +30,7 @@ for file in files
     # println(file)
     include("examples/"*file*".jl")
     if file=="joint_force" || file=="pendulum_forced" || file=="nutation" || file=="football"
-        storage = simulate!(mech, 10., control!, record = true)
+        storage = simulate!(mech, 10., eval(Meta.parse(file*"_control!")), record = true)
     else
         storage = simulate!(mech, 10., record = true)
     end
diff --git a/test/examples/football.jl b/test/examples/football.jl
index 7c7cf7fc..0dfc6d06 100644
--- a/test/examples/football.jl
+++ b/test/examples/football.jl
@@ -46,7 +46,7 @@ setPosition!(link4,link5,Δx = [0.;0.;0.03])
 
 spin = 0.35
 
-function fottball_control!(mechanism, k)
+function football_control!(mechanism, k)
     if k<25
         setForce!(link3, F = SA[0.;25.;25.], τ=spin*SA[0.2;0.2;1.])
     elseif k==40

From 84e5f3863996c4de9eb68a4e9667179692e8746a Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 19:43:41 +0200
Subject: [PATCH 14/17] Update benchmark test for controlled examples.

---
 benchmark/benchmarks.jl | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index a20c9e3b..a46d8725 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -34,9 +34,14 @@ for i=1:length(files)-1
     include("../test/examples/"*files[i]*".jl")
     steps = Base.OneTo(100)
     storage = Storage{Float64}(steps,length(mech.bodies))
-    if files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
-        funcdict[i] = eval(Meta.parse(files[i]*"_control!"))
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $funcdict[i]) samples=1
+    if files[i]=="joint_force" 
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $joint_force_control!) samples=1
+    elseif files[i]=="pendulum_forced"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $pendulum_forced_control!) samples=1
+    elseif files[i]=="football"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $football_control!) samples=1
+    elseif files[i]=="nutation"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
     elseif files[i]=="chain_in_chain"
         #
     else

From 1247a10b480ca10400726fb45269bd0d2e1b63ad Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 21:21:46 +0200
Subject: [PATCH 15/17] Focus benchmark more on size than problem.

---
 benchmark/benchmarks.jl        | 47 +---------------------------------
 benchmark/example_benchmark.jl | 47 ++++++++++++++++++++++++++++++++++
 2 files changed, 48 insertions(+), 46 deletions(-)
 create mode 100644 benchmark/example_benchmark.jl

diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index a46d8725..3f4f6d27 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -2,49 +2,4 @@ using BenchmarkTools
 
 SUITE = BenchmarkGroup()
 
-files = [
-    "atlas"
-    "axes"
-    "chain_in_chain"
-    "dice_nofriction"
-    "dice_tiltedplane"
-    "dice"
-    "disconnected_bodies"
-    "doublependulum_3d"
-    "doublependulum_urdf"
-    "football"
-    "inverted_pyramid_plane"
-    "joint_force"
-    "joint_torque"
-    "n_fourbars"
-    "n_pendulum"
-    "nutation"
-    "pendulum_forced"
-    "pendulum"
-    "planar_example"
-    "scissor_lift"
-    "slider_crank"
-    "slider_crank3d"
-    "wheel"
-]
-
-funcdict = Dict{Int64,Function}()
-
-for i=1:length(files)-1
-    include("../test/examples/"*files[i]*".jl")
-    steps = Base.OneTo(100)
-    storage = Storage{Float64}(steps,length(mech.bodies))
-    if files[i]=="joint_force" 
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $joint_force_control!) samples=1
-    elseif files[i]=="pendulum_forced"
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $pendulum_forced_control!) samples=1
-    elseif files[i]=="football"
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $football_control!) samples=1
-    elseif files[i]=="nutation"
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
-    elseif files[i]=="chain_in_chain"
-        #
-    else
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
-    end
-end
+include("example_benchmark.jl")
\ No newline at end of file
diff --git a/benchmark/example_benchmark.jl b/benchmark/example_benchmark.jl
new file mode 100644
index 00000000..30a86d30
--- /dev/null
+++ b/benchmark/example_benchmark.jl
@@ -0,0 +1,47 @@
+files = [
+    "atlas"
+    "axes"
+    "chain_in_chain"
+    "dice_nofriction"
+    "dice_tiltedplane"
+    "dice"
+    "disconnected_bodies"
+    "doublependulum_3d"
+    "doublependulum_urdf"
+    "football"
+    "inverted_pyramid_plane"
+    "joint_force"
+    "joint_torque"
+    "n_fourbars"
+    "n_pendulum"
+    "nutation"
+    "pendulum_forced"
+    "pendulum"
+    "planar_example"
+    "scissor_lift"
+    "slider_crank"
+    "slider_crank3d"
+    "wheel"
+]
+
+for i=1:length(files)-1
+    include("../test/examples/"*files[i]*".jl")
+    mech.g = 0.0
+
+    steps = Base.OneTo(100)
+    storage = Storage{Float64}(steps,length(mech.bodies))
+
+    if files[i]=="joint_force" 
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $joint_force_control!) samples=1
+    elseif files[i]=="pendulum_forced"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $pendulum_forced_control!) samples=1
+    elseif files[i]=="football"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $football_control!) samples=1
+    elseif files[i]=="nutation"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
+    # elseif files[i]=="chain_in_chain"
+    #     #
+    else
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
+    end
+end

From 0c213590e4135b114842510d9309aa88417f989c Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 21:33:39 +0200
Subject: [PATCH 16/17] Update nutation benchmark.

---
 test/examples/nutation.jl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/test/examples/nutation.jl b/test/examples/nutation.jl
index d089ee8a..345f0f6d 100644
--- a/test/examples/nutation.jl
+++ b/test/examples/nutation.jl
@@ -23,12 +23,12 @@ shapes = [b1]
 mech = Mechanism(origin, links, constraints, g = 0., shapes = shapes)
 
 axis = [0;0;1.]
-speed = 20pi #*0
+speed = 2pi #*0
 setVelocity!(link1, ω = speed*axis)
 
 function nutation_control!(mechanism, k)
     if k==1
-        setForce!(mechanism.bodies[1], F = SA[0;0;2.], p=SA[0;1.;0])
+        setForce!(mechanism.bodies[1], F = SA[0;0;0.2], p=SA[0;1.;0])
     else
         setForce!(mechanism.bodies[1], F = SA[0;0;0.], p=SA[0;0.0;0])
     end

From 90201b47e1ed8ff503bc76aafab2b2af1b73c1bb Mon Sep 17 00:00:00 2001
From: janbruedigam <jan.bruedigam@t-online.de>
Date: Tue, 2 Jun 2020 21:45:13 +0200
Subject: [PATCH 17/17] Benchmark uncontrolled nutation.

---
 benchmark/example_benchmark.jl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/benchmark/example_benchmark.jl b/benchmark/example_benchmark.jl
index 30a86d30..737fe939 100644
--- a/benchmark/example_benchmark.jl
+++ b/benchmark/example_benchmark.jl
@@ -37,8 +37,8 @@ for i=1:length(files)-1
         SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $pendulum_forced_control!) samples=1
     elseif files[i]=="football"
         SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $football_control!) samples=1
-    elseif files[i]=="nutation"
-        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
+    # elseif files[i]=="nutation"
+    #     SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
     # elseif files[i]=="chain_in_chain"
     #     #
     else