Merge pull request #20 from Ipuch/main

feat: model_updater easy to get for more custom rerun use cases

pyorerun/__init__.py

@@ -1,5 +1,6 @@
 from .biorbd_components.model_display_options import DisplayModelOptions
 from .biorbd_components.model_interface import BiorbdModel, BiorbdModelNoMesh
+from .biorbd_components.model_updapter import ModelUpdater
 from .live_animation import LiveModelAnimation
 from .multi_phase_rerun import MultiPhaseRerun
 

pyorerun/biorbd_components/local_frame.py

@@ -28,6 +28,6 @@ def to_rerun(self, q: np.ndarray) -> None:
             rr.Transform3D(
                 # scale=self.scale,
                 translation=homogenous_matrices[:3, 3],
-                mat3x3=homogenous_matrices[:3, :3],
+                mat3x3=homogenous_matrices[:3, :3] * 0.25,
             ),
         )

pyorerun/biorbd_components/model_updapter.py

@@ -23,6 +23,39 @@ def __init__(self, name, model: BiorbdModel):
         self.segments = self.create_segments_updater()
         self.muscles = self.create_muscles_updater()
 
+    @classmethod
+    def from_file(cls, model_path: str):
+        """
+        This factory method is meant to be used with rerun easily. For example, to display a model in rerun,
+        and add its custom experimental data.
+
+        Parameters
+        ----------
+        model_path: str
+            The path to the bioMod file, such as "path/to/model.bioMod".
+
+        Returns
+        -------
+        ModelUpdater
+
+        Examples
+        --------
+        >>> import rerun as rr
+        >>> import numpy as np
+        >>> from pyorerun import ModelUpdater
+
+        >>> q = np.zeros(10)
+        >>> model = ModelUpdater.from_file("path/to/model.bioMod")
+
+        >>> rr.init("my_thing", spawn=True)
+        >>> rr.set_time_sequence(timeline="step", sequence=0)
+        >>> model.to_rerun(q)
+        >>> rr.log("anything", rr.Anything())
+
+        """
+        model = BiorbdModel(model_path)
+        return cls(model.name, model)
+
     def create_markers_updater(self):
         if self.model.nb_markers == 0:
             return EmptyUpdater(self.name + "/markers")

pyorerun/live_animation.py

@@ -5,7 +5,7 @@
 import rerun as rr
 
 from .biorbd_components.model_interface import BiorbdModel
-from .phase_rerun import PhaseRerun
+from .biorbd_components.model_updapter import ModelUpdater
 
 
 class LiveModelAnimation:
@@ -43,20 +43,28 @@ def __init__(self, model_path: str, with_q_charts: bool = False):
         """
 
         self.counter = 0
-        self.model = BiorbdModel(model_path)
+        self.model_updater = ModelUpdater.from_file(model_path)
+        self.model = self.model_updater.model
         self.biorbd_model = self.model.model
+
         self.q = np.zeros(self.biorbd_model.nbQ())
         self.dof_sliders = []
         self.dof_slider_values = []
         self.update_functions = []
         self.with_q_charts = with_q_charts
 
     def update_viewer(self, event, dof_index: int):
+        the_dof_idx, the_value = self.fetch_and_update_slider_value(event, dof_index)
+        self.update_rerun_components(the_dof_idx, the_value)
+
+    def fetch_and_update_slider_value(self, event, dof_index: int) -> tuple[int, float]:
         the_dof_idx = dof_index
         the_value = self.dof_sliders[the_dof_idx].get()
         # update the slider value q
         self.dof_slider_values[the_dof_idx].config(text=f"{the_value:.2f}")
-        # update joint angles q
+        return the_dof_idx, the_value
+
+    def update_rerun_components(self, the_dof_idx: int, the_value: float):
         self.q[the_dof_idx] = the_value
         # update counter
         self.counter += 1
@@ -68,7 +76,7 @@ def update_viewer(self, event, dof_index: int):
             self.update_trajectories(self.q)
 
     def update_model(self, q: np.ndarray):
-        self.viz.biorbd_models.rerun_models[0].to_rerun(q)
+        self.model_updater.to_rerun(q)
 
     def update_trajectories(self, q: np.ndarray):
         q_ranges = [q_range for segment in self.biorbd_model.segments() for q_range in segment.QRanges()]
@@ -88,16 +96,9 @@ def to_serie_line(self, name: str, min: float, max: float, val: float):
         rr.log(f"{name}/value", rr.Scalar(val))
 
     def rerun(self, name: str = None):
-        # Building a fake pyorerun animation
-        nb_frames = 1
-        nb_seconds = 0
-        t_span = np.linspace(0, nb_seconds, nb_frames)
-        q = np.zeros((self.model.model.nbQ(), nb_frames))
-        self.viz = PhaseRerun(t_span)
-        self.viz.add_animated_model(self.model, q)
-
         # update manually here
         rr.init(application_id=f"{self.model.name}" if name is None else name, spawn=True)
+        self.update_rerun_components(the_dof_idx=0, the_value=0.0)
         self.create_window_with_sliders()
 
     def create_window_with_sliders(self):