feat: pyorerun interfaced #882

Ipuch · 2024-06-24T00:04:26Z

This change is

Ipuch · 2024-07-04T14:25:43Z

@EveCharbie if you like to review, you can do it, otherwise it can wait for @pariterre returns.

EveCharbie

Do you handle quaternions? If not, please raise an error.

Reviewed 17 of 27 files at r1, 1 of 1 files at r2, all commit messages.
Reviewable status: 18 of 28 files reviewed, 5 unresolved discussions (waiting on @Ipuch)

bioptim/examples/getting_started/pendulum.py line 131 at r2 (raw file):

    # --- Prepare the ocp --- #
    ocp = prepare_ocp(biorbd_model_path="models/pendulum.bioMod", final_time=1, n_shooting=30, n_threads=2)

revert?

Code quote:

bioptim/examples/getting_started/pendulum.py line 160 at r2 (raw file):

    # --- Animate the solution --- #
    viewer = "bioviz"

make an enum

Code quote:

"bioviz"

bioptim/examples/holonomic_constraints/two_pendulums.py line 229 at r2 (raw file):

        viz.add_animated_model(pyorerun.BiorbdModel(model_path), q=q)

        viz.rerun("double_pendulum")

Super clean!

bioptim/models/biorbd/biorbd_model.py line 810 at r2 (raw file):

            raise RuntimeError("pyorerun must be install to animate the model")

        # check_version(pyorerun, "1.2.3", max_version="1.2.99")

Do we need this? If yes, uncomment please

Code quote:

check_version(pyorerun, "1.2.3", max_version="1.2.99")

bioptim/models/biorbd/viewer_bioviz.py line 116 at r2 (raw file):

            else:
                b_is_visible[i] = False
    return None

Was it like that? I think viz.exec() does this

Code quote:

def play_bioviz_animation(all_bioviz: list) -> None:
    """Play the animation of the list of bioviz objects"""
    b_is_visible = [True] * len(all_bioviz)
    while sum(b_is_visible):
        for i, b in enumerate(all_bioviz):
            if b.vtk_window.is_active:
                b.update()
            else:
                b_is_visible[i] = False
    return None

EveCharbie · 2024-07-04T15:36:16Z

Thanks @Ipuch, this will be very helpful and clean!

Ipuch

Quaternions are handled by biorbd so yes :)

Reviewable status: 17 of 29 files reviewed, 5 unresolved discussions (waiting on @EveCharbie)

bioptim/examples/getting_started/pendulum.py line 131 at r2 (raw file):

Previously, EveCharbie (Eve Charbonneau) wrote…

revert?

revert to 300 ?

bioptim/examples/getting_started/pendulum.py line 160 at r2 (raw file):

Previously, EveCharbie (Eve Charbonneau) wrote…

make an enum

Ouin, I didn't want one more enum...

bioptim/examples/holonomic_constraints/two_pendulums.py line 229 at r2 (raw file):

Previously, EveCharbie (Eve Charbonneau) wrote…

Super clean!

Done. Thanks

bioptim/models/biorbd/biorbd_model.py line 810 at r2 (raw file):

Previously, EveCharbie (Eve Charbonneau) wrote…

Do we need this? If yes, uncomment please

Method deleted as I moved everything in viewer scripts

bioptim/models/biorbd/viewer_bioviz.py line 116 at r2 (raw file):

Previously, EveCharbie (Eve Charbonneau) wrote…

Was it like that? I think viz.exec() does this

Yes it was like that because, bioviz doesn't natively handle multiphase animations.

pariterre

Reviewed 9 of 27 files at r1, 3 of 3 files at r3, all commit messages.
Reviewable status: all files reviewed, 10 unresolved discussions (waiting on @EveCharbie and @Ipuch)

bioptim/examples/getting_started/pendulum.py line 160 at r2 (raw file):

Previously, Ipuch (Pierre Puchaud) wrote…

Ouin, I didn't want one more enum...

viewer should not be in sol.animate

bioptim/examples/getting_started/pendulum.py line 77 at r3 (raw file):

    """

    bio_model = BiorbdModel(biorbd_model_path)

Add the viewer here (and not when calling sol.animate)

bioptim/examples/getting_started/pendulum.py line 162 at r3 (raw file):

    viewer = "bioviz"
    # viewer = "pyorerun"
    sol.animate(n_frames=0, viewer=viewer, show_now=True)

model = BiorbdModel(PATH, viewer=BiorbdModelViewer.BIOVIZ)
ocp = prepare_ocp(...)
...
ocp.nlp[0].model.viewer = BiorbdModelViewer.PYORERUN
sol.animate(n_frames=0, show_now=True)

bioptim/examples/torque_driven_ocp/example_multi_biorbd_model.py line 100 at r3 (raw file):

    # --- Animate results with pyorerun --- #
    sol.animate(viewer="pyorerun")

Update this

bioptim/optimization/solution/solution.py line 1225 at r3 (raw file):

        show_now: bool = True,
        show_tracked_markers: bool = False,
        viewer: str = "bioviz",

Move this to BiorbdModel interface

bioptim/optimization/solution/solution.py line 1264 at r3 (raw file):

        if viewer == "bioviz":
            return animate_with_bioviz_for_loop(self.ocp, self, show_now, show_tracked_markers, n_frames, **kwargs)

type(self.ocp.nlp[0].model).animate()

Ipuch

Reviewable status: 25 of 30 files reviewed, 10 unresolved discussions (waiting on @EveCharbie and @pariterre)

bioptim/examples/getting_started/pendulum.py line 131 at r2 (raw file):

Previously, Ipuch (Pierre Puchaud) wrote…

revert to 300 ?

Done

bioptim/examples/getting_started/pendulum.py line 160 at r2 (raw file):