Merge pull request Simple-Robotics#11 from ManifoldFR/topic/adapt-to-latest-pin

Adapt to changes made in pinocchio for visualizers

Author: ManifoldFR

CMakeLists.txt

@@ -19,10 +19,9 @@ COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
-ADD_PROJECT_DEPENDENCY(pinocchio_visualizers REQUIRED)
 ADD_PROJECT_DEPENDENCY(assimp REQUIRED)
 ADD_PROJECT_DEPENDENCY(fmt 10.0 REQUIRED)
-ADD_PROJECT_DEPENDENCY(rerun_sdk 0.21.0 REQUIRED)
+ADD_PROJECT_DEPENDENCY(rerun_sdk 0.23.4 REQUIRED)
 
 set(INSTALL_DOCUMENTATION OFF)
 set(CMAKE_VERBOSE_MAKEFILE OFF)
@@ -83,10 +82,6 @@ target_link_libraries(${LIB_NAME} PUBLIC rerun_sdk)
 target_link_libraries(${LIB_NAME} PRIVATE fmt::fmt)
 target_link_libraries(${LIB_NAME} PUBLIC assimp::assimp)
 target_link_libraries(${LIB_NAME} PUBLIC pinocchio::pinocchio)
-target_link_libraries(
-  ${LIB_NAME}
-  PUBLIC pinocchio_visualizers::pinocchio_visualizers
-)
 
 install(TARGETS ${LIB_NAME} LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR})
 install(FILES ${lib_HEADERS} DESTINATION include/${PROJECT_NAME})

examples/talos.py

@@ -8,7 +8,7 @@
 model = robot.model
 visual_model = robot.visual_model
 rr = pinocchio_rerun.RerunVisualizer(model, visual_model)
-rr.initViewer()
+rr.loadViewerModel()
 assert rr.initialized
 q0 = pin.neutral(model)
 rr.display(q0)

python/module.cpp

@@ -1,7 +1,7 @@
 #include <eigenpy/eigenpy.hpp>
 #include <eigenpy/optional.hpp>
 #include <eigenpy/std-vector.hpp>
-#include <pinocchio_visualizers/python/visitor.hpp>
+#include <pinocchio/bindings/python/visualizers/visualizer-visitor.hpp>
 
 #include "pinocchio_rerun.hpp"
 
@@ -40,7 +40,7 @@ PYMODULE() {
                                                   bp::no_init)
       .def(bp::init<Model const &, GeometryModel const &>(
           ("self"_a, "model", "geomModel")))
-      .def(pinviz::VisualizerVisitor<RerunVisualizer>())
+      .def(pinocchio::python::VisualizerPythonVisitor<RerunVisualizer>())
       .add_property("initialized", &RerunVisualizer::initialized)
       .def("switchTimeline", &RerunVisualizer::switchTimeline,
            ("self"_a, "name"_a), "Switch Rerun timelines.")

src/pinocchio.cpp

@@ -27,7 +27,7 @@ bool loadPinocchioGeometry(const pinocchio::GeometryObject &obj,
       auto meshDesc = loadMesh(obj.meshPath, obj.meshScale.cast<float>(),
                                obj.meshColor.cast<float>());
       auto rrMesh = meshDescriptionToRerun(std::move(meshDesc));
-      rr.log_timeless(getEntityPath(obj, prefix).string(), rrMesh);
+      rr.log_static(getEntityPath(obj, prefix).string(), rrMesh);
       break;
     }
     default:

src/rerun_visualizer.cpp

@@ -26,7 +26,7 @@ void RerunVisualizer::displayImpl() {
   for (uint i = 0; i < ngeoms; i++) {
     const auto &gobj = geomObjs[i];
     const pinocchio::SE3 &M =
-        visualData.oMg[m_visualModel->getGeometryId(gobj.name)];
+        m_visualData->oMg[m_visualModel->getGeometryId(gobj.name)];
 
     auto path = getEntityPath(gobj, visualPrefix()).string();
     stream.log(path, pinSE3toRerun(M));
@@ -40,14 +40,14 @@ void RerunVisualizer::drawFrameVelocities(const vector<FrameIndex> &frame_ids) {
   vector<std::string> labels(nframes);
   for (size_t i = 0; i < frame_ids.size(); ++i) {
     auto frame_id = frame_ids[i];
-    pinocchio::updateFramePlacement(*m_model, data, frame_id);
+    pinocchio::updateFramePlacement(m_model.get(), *m_data, frame_id);
 
-    auto vel = pinocchio::getFrameVelocity(*m_model, data, frame_id,
+    auto vel = pinocchio::getFrameVelocity(m_model.get(), *m_data, frame_id,
                                            pinocchio::LOCAL_WORLD_ALIGNED)
                    .cast<float>();
     frame_vels[i] = vel.linear();
-    frame_pos[i] = data.oMf[frame_id].cast<float>().translation();
-    labels[i] = m_model->frames[frame_id].name;
+    frame_pos[i] = m_data->oMf[frame_id].cast<float>().translation();
+    labels[i] = m_model.get().frames[frame_id].name;
   }
   std::string frame_vel_prefix = m_prefix + "/frame_vels";
   stream.log(frame_vel_prefix,

src/rerun_visualizer.hpp

@@ -2,7 +2,7 @@
 
 #include "pinocchio.hpp"
 
-#include <pinocchio_visualizers/base-visualizer.hpp>
+#include <pinocchio/visualizers/base-visualizer.hpp>
 
 namespace pinrerun {
 
@@ -14,10 +14,11 @@ auto pinSE3toRerun(const pinocchio::SE3Tpl<Scalar, Eigen::ColMajor> &tr_) {
 }
 
 using pinocchio::FrameIndex;
-using BaseVisualizer = pinocchio_visualizers::BaseVisualizer<double>;
+using BaseVisualizer = pinocchio::visualizers::BaseVisualizer;
 
 class RerunVisualizer : public BaseVisualizer {
 public:
+  using BaseVisualizer::play;
   RerunVisualizer(const pinocchio::Model &model,
                   const pinocchio::GeometryModel &geomModel);