Merge pull request #23 from Ipuch/main

feat: see charts when loading a motion, gravity and fix multimodel spaceviews

examples/biorbd/multi_models.py

@@ -28,6 +28,7 @@ def main():
     nb_seconds = 1
     q0, t_span0 = building_some_q_and_t_span(nb_frames, nb_seconds)
     q1, t_span1 = building_some_q_and_t_span(20, 0.5)
+    time_offset = t_span0[-1]
 
     # loading biorbd model
     biorbd_model = BiorbdModel(biorbd_model_path)
@@ -43,16 +44,17 @@ def main():
 
     black_model = BiorbdModel(biorbd_model_path)
     black_model.options.mesh_color = (0, 0, 0)
+    black_model.options.show_gravity = True
 
     rerun_biorbd.add_animated_model(black_model, q0 + 0.2, phase=0, window="animation")
 
     rerun_biorbd.add_phase(t_span=t_span0, phase=0, window="split_animation")
     rerun_biorbd.add_animated_model(biorbd_model, q0 + 0.2, phase=0, window="split_animation")
 
-    rerun_biorbd.add_phase(t_span=t_span0[-1] + t_span1, phase=1)
+    rerun_biorbd.add_phase(t_span=time_offset + t_span1, phase=1)
     rerun_biorbd.add_animated_model(biorbd_model, q1, phase=1)
 
-    rerun_biorbd.add_phase(t_span=t_span0[-1] + t_span1, phase=1, window="split_animation")
+    rerun_biorbd.add_phase(t_span=time_offset + t_span1, phase=1, window="split_animation")
     rerun_biorbd.add_animated_model(biorbd_model, q1, phase=1, window="split_animation")
 
     markers = Markers(data=noisy_markers, channels=list(biorbd_model.marker_names))

pyorerun/abstract/abstract_class.py

@@ -3,6 +3,16 @@
 import numpy as np
 
 
+class TimelessComponent(ABC):
+    @abstractmethod
+    def to_rerun(self):
+        pass
+
+    @abstractmethod
+    def nb_components(self):
+        pass
+
+
 class Component(ABC):
     @abstractmethod
     def to_rerun(self, q: np.ndarray):

pyorerun/biorbd_components/model_display_options.py

@@ -19,3 +19,4 @@ class DisplayModelOptions:
     # NOTE : mesh_opacity doesnt exist in rerun yet
     # segment_frame_size: float = 0.1 not implemented yet
     mesh_color: tuple[int, int, int] = (255, 255, 255)
+    show_gravity: bool = False

pyorerun/biorbd_components/model_interface.py

@@ -160,6 +160,10 @@ def q_ranges(self) -> tuple[tuple[float, float], ...]:
         q_ranges = [q_range for segment in self.model.segments() for q_range in segment.QRanges()]
         return tuple((q_range.min(), q_range.max()) for q_range in q_ranges)
 
+    @property
+    def gravity(self) -> np.ndarray:
+        return self.model.getGravity().to_array()
+
 
 class BiorbdModel(BiorbdModelNoMesh):
     """

pyorerun/multi_phase_rerun.py

@@ -1,5 +1,6 @@
 import numpy as np
 import rerun as rr  # NOTE: `rerun`, not `rerun-sdk`!
+import rerun.blueprint as rrb
 from pyomeca import Markers as PyoMarkers
 
 from .biorbd_components.model_interface import BiorbdModel
@@ -12,7 +13,7 @@ class MultiPhaseRerun:
     """
 
     def __init__(self) -> None:
-        self.rerun_biorbd_phases: list[dict] = []
+        self.rerun_biorbd_phases: list[dict[str, PhaseRerun], ...] = []
 
     def add_phase(self, t_span: np.ndarray, phase: int = 0, window: str = "animation") -> None:
 
@@ -48,6 +49,12 @@ def all_windows(self) -> list[str]:
     def rerun(self, server_name: str = "multi_phase_animation") -> None:
         rr.init(server_name, spawn=True)
         for i, phase in enumerate(self.rerun_biorbd_phases):
-            for j, rr_phase in enumerate(phase.values()):
+            for j, (window, rr_phase) in enumerate(phase.items()):
+
+                rrb.Spatial3DView(
+                    origin="/",
+                    contents=f"{window}/**",
+                )
+
                 more_phases_after_this_one = i < self.nb_phase - 1
                 rr_phase.rerun(init=False, clear_last_node=more_phases_after_this_one)

pyorerun/phase_rerun.py

@@ -5,6 +5,8 @@
 from .abstract.q import QProperties
 from .biorbd_components.model_interface import BiorbdModel
 from .biorbd_phase import BiorbdRerunPhase
+from .timeless.gravity import Gravity
+from .timeless_components import TimelessRerunPhase
 from .xp_components.markers import MarkersXp
 from .xp_components.timeseries_q import TimeSeriesQ
 from .xp_phase import XpRerunPhase
@@ -13,6 +15,22 @@
 class PhaseRerun:
     """
     A class to animate a biorbd model in rerun.
+
+    Attributes
+    ----------
+    phase : int
+        The phase number of the animation.
+    name : str
+        The name of the animation.
+    t_span : np.ndarray
+        The time span of the animation, such as the time instant of each frame.
+    biorbd_models : BiorbdRerunPhase
+        The biorbd models to animate.
+    xp_data : XpRerunPhase
+        The experimental data to display.
+    timeless_components : list
+        The components to display at the begin of the phase but stay until the end of this phase.
+        This not a true timeless in the sens of rerun, as if a new phase is created, the timeless components will be cleared.
     """
 
     def __init__(self, t_span: np.ndarray, phase: int = 0, window: str = None):
@@ -34,6 +52,7 @@ def __init__(self, t_span: np.ndarray, phase: int = 0, window: str = None):
 
         self.biorbd_models = BiorbdRerunPhase(name=self.name, phase=phase)
         self.xp_data = XpRerunPhase(name=self.name, phase=phase)
+        self.timeless_components = TimelessRerunPhase(name=self.name, phase=phase)
 
     def add_animated_model(
         self, biomod: BiorbdModel, q: np.ndarray, tracked_markers: PyoMarkers = None, display_q: bool = False
@@ -73,6 +92,10 @@ def add_animated_model(
                 ranges=biomod.q_ranges,
                 dof_names=biomod.dof_names,
             )
+        if biomod.options.show_gravity:
+            self.timeless_components.add_component(
+                Gravity(name=f"{self.name}/{self.biorbd_models.nb_models}_{biomod.name}", vector=biomod.gravity)
+            )
 
     def __add_tracked_markers(self, biomod: BiorbdModel, tracked_markers: PyoMarkers) -> None:
         """Add the tracked markers to the phase."""
@@ -138,11 +161,21 @@ def rerun(self, name: str = "animation_phase", init: bool = True, clear_last_nod
         if init:
             rr.init(f"{name}_{self.phase}", spawn=True)
 
-        for frame, t in enumerate(self.t_span):
+        frame = 0
+        rr.set_time_seconds("stable_time", self.t_span[frame])
+        self.timeless_components.to_rerun()
+        self.biorbd_models.to_rerun(frame)
+        self.xp_data.to_rerun(frame)
+
+        for frame, t in enumerate(self.t_span[1:]):
             rr.set_time_seconds("stable_time", t)
-            self.biorbd_models.to_rerun(frame)
-            self.xp_data.to_rerun(frame)
+            self.biorbd_models.to_rerun(frame + 1)
+            self.xp_data.to_rerun(frame + 1)
 
         if clear_last_node:
-            for component in [*self.biorbd_models.component_names, *self.xp_data.component_names]:
+            for component in [
+                *self.biorbd_models.component_names,
+                *self.xp_data.component_names,
+                *self.timeless_components.component_names,
+            ]:
                 rr.log(component, rr.Clear(recursive=False))

pyorerun/timeless/gravity.py

@@ -0,0 +1,21 @@
+import numpy as np
+import rerun as rr
+
+from ..abstract.abstract_class import TimelessComponent
+
+
+class Gravity(TimelessComponent):
+
+    def __init__(self, name, vector: np.ndarray):
+        self.name = name + "/gravity"
+        self.vector = vector / 20
+
+    @property
+    def nb_components(self):
+        return 1
+
+    def to_rerun(self) -> None:
+        rr.log(
+            self.name,
+            rr.Arrows3D(origins=np.zeros(3), vectors=self.vector, colors=np.array([255, 255, 255])),
+        )

pyorerun/timeless_components.py

@@ -0,0 +1,19 @@
+from typing import Any
+
+
+class TimelessRerunPhase:
+    def __init__(self, name, phase: int):
+        self.name = name
+        self.phase = phase
+        self.timeless_components = []
+
+    def add_component(self, component: Any):
+        self.timeless_components.append(component)
+
+    def to_rerun(self):
+        for data in self.timeless_components:
+            data.to_rerun()
+
+    @property
+    def component_names(self) -> list[str]:
+        return [data.name for data in self.timeless_components]