Merge pull request #28 from Ipuch/multiframerate

fix: q viz without ranges

pyorerun/abstract/q.py

@@ -29,7 +29,7 @@ class QProperties:
     def __init__(
         self,
         joint_names: list[str, ...] | tuple[str, ...],
-        ranges: tuple[tuple[float, float], ...],
+        ranges: tuple[tuple[float, float], ...] = None,
         width: float = None,
     ):
         """

pyorerun/biorbd_components/model_interface.py

@@ -164,6 +164,10 @@ def q_ranges(self) -> tuple[tuple[float, float], ...]:
     def gravity(self) -> np.ndarray:
         return self.model.getGravity().to_array()
 
+    @property
+    def has_mesh(self) -> bool:
+        return any([s.has_mesh for s in self.segments])
+
 
 class BiorbdModel(BiorbdModelNoMesh):
     """

pyorerun/biorbd_components/model_updapter.py

@@ -4,7 +4,7 @@
 import numpy as np
 
 from .mesh import TransformableMeshUpdater
-from .model_interface import BiorbdModel
+from .model_interface import BiorbdModel, BiorbdModelNoMesh
 from .model_markers import MarkersUpdater
 from .segment import SegmentUpdater
 from ..abstract.abstract_class import Components
@@ -15,7 +15,7 @@
 
 
 class ModelUpdater(Components):
-    def __init__(self, name, model: BiorbdModel):
+    def __init__(self, name, model: BiorbdModelNoMesh):
         self.name = name
         self.model = model
         self.markers = self.create_markers_updater()
@@ -54,7 +54,10 @@ def from_file(cls, model_path: str):
 
         """
         model = BiorbdModel(model_path)
-        return cls(model.name, model)
+        if model.has_mesh:
+            return cls(model.name, model)
+
+        return cls(model.name, BiorbdModelNoMesh(model_path))
 
     def create_markers_updater(self):
         if self.model.nb_markers == 0:

pyorerun/phase_rerun.py

@@ -129,7 +129,11 @@ def add_xp_markers(self, name, markers: PyoMarkers) -> None:
         self.xp_data.add_data(MarkersXp(name=f"{self.name}/{name}", markers=markers))
 
     def add_q(
-        self, name: str, q: np.ndarray, ranges: tuple[tuple[float, float], ...], dof_names: tuple[str, ...]
+        self,
+        name: str,
+        q: np.ndarray,
+        dof_names: tuple[str, ...],
+        ranges: tuple[tuple[float, float], ...] = None,
     ) -> None:
         """
         Add the generalized coordinates to be displqyed.
@@ -140,10 +144,10 @@ def add_q(
             The name of the q set.
         q: np.ndarray
             The generalized coordinates to display of shape (nb_q, nb_frames).
-        ranges: tuple[tuple[float, float], ...]
-            The ranges of the q values, min and max.
         dof_names: tuple[str, ...]
             The names of the degrees of freedom.
+        ranges: tuple[tuple[float, float], ...]
+            The ranges of the q values, min and max.
         """
         if q.shape[1] != self.t_span.shape[0]:
             raise ValueError(

pyorerun/xp_components/timeseries_q.py

@@ -29,20 +29,32 @@ def nb_components(self):
         return 1
 
     def to_rerun(self, frame: int) -> None:
-        for joint_idx in range(self.nb_q):
-            name = f"{self.properties.displayed_joint_names[joint_idx]}"
-            qmin, qmax = self.properties.ranges[joint_idx]
-            #  todo: this log calls should be done once for all somewhere in the properties of Q
-            rr.log(
-                f"{name}/min", rr.SeriesLine(color=self.properties.min_color, name="min", width=self.properties.width)
-            )
-            rr.log(
-                f"{name}/max", rr.SeriesLine(color=self.properties.max_color, name="max", width=self.properties.width)
-            )
-            rr.log(
-                f"{name}/value", rr.SeriesLine(color=self.properties.value_color, name="q", width=self.properties.width)
-            )
-            self.to_serie_line(name=name, min=qmin, max=qmax, val=self.q[joint_idx, frame])
+        if self.properties.ranges is None:
+            for joint_idx in range(self.nb_q):
+                name = f"{self.properties.displayed_joint_names[joint_idx]}"
+                rr.log(
+                    f"{name}/value",
+                    rr.SeriesLine(color=self.properties.value_color, name="q", width=self.properties.width),
+                )
+                rr.log(f"{name}/value", rr.Scalar(self.q[joint_idx, frame]))
+        else:
+            for joint_idx in range(self.nb_q):
+                name = f"{self.properties.displayed_joint_names[joint_idx]}"
+                qmin, qmax = self.properties.ranges[joint_idx]
+                #  todo: this log calls should be done once for all somewhere in the properties of Q
+                rr.log(
+                    f"{name}/min",
+                    rr.SeriesLine(color=self.properties.min_color, name="min", width=self.properties.width),
+                )
+                rr.log(
+                    f"{name}/max",
+                    rr.SeriesLine(color=self.properties.max_color, name="max", width=self.properties.width),
+                )
+                rr.log(
+                    f"{name}/value",
+                    rr.SeriesLine(color=self.properties.value_color, name="q", width=self.properties.width),
+                )
+                self.to_serie_line(name=name, min=qmin, max=qmax, val=self.q[joint_idx, frame])
 
     @staticmethod
     def to_serie_line(name: str, min: float, max: float, val: float):