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Update Animation given the changes upstream in MeshCat.jl #71

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Merged
merged 11 commits into from
Dec 5, 2024
Merged

Update Animation given the changes upstream in MeshCat.jl #71

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1f815e4
Pass `vis` to `Animation` call
ferrolho Nov 4, 2024
aae3c9a
Use just `mvis.visualizer`
ferrolho Nov 4, 2024
3ac9885
Update ci.yml to add Julia 1.10 (LTS)
ferrolho Nov 4, 2024
baf0c32
Drop support for MeshCat < v1.0
ferrolho Nov 6, 2024
e759b6b
Remove temporary source for MeshCat.jl
ferrolho Nov 8, 2024
4484ec8
Bump ValkyrieRobot.jl dep
ferrolho Nov 8, 2024
3b71a9e
Update version of GitHub actions in CI.yml
ferrolho Dec 4, 2024
0b218ed
Bump compat version for GeometryBasics
ferrolho Dec 4, 2024
261345d
Bump compat version for MechanismGeometries
ferrolho Dec 4, 2024
5bacfb3
Remove ValkyrieRobot dep from the Project.toml
ferrolho Dec 5, 2024
69fcb86
Bump Julia version compat from 1.6 to 1.9
ferrolho Dec 5, 2024
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16 changes: 8 additions & 8 deletions src/animate.jl
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Original file line number Diff line number Diff line change
@@ -1,20 +1,20 @@
"""
animate(vis::MechanismVisualizer,
animate(mvis::MechanismVisualizer,
times::Vector{Float64},
configurations::Vector{Vector{Float64}};
fps::Float64=60, realtimerate::Float64=1.)

Animate the given mechanism passing through a time-coded series of
configurations by linearly interpolating the configuration vectors.
"""
function animate(vis::MechanismVisualizer,
function animate(mvis::MechanismVisualizer,
times::Vector{Float64},
configurations::AbstractVector{<:AbstractVector{Float64}};
fps::Float64 = 60., realtimerate::Float64 = 1.)
@assert fps > 0
@assert 0 < realtimerate < Inf

state = vis.state
state = mvis.state
interpolated_configurations = interpolate((times,), configurations, Gridded(Linear()))
t0, tf = first(times), last(times)
framenum = 0
Expand All @@ -24,19 +24,19 @@ function animate(vis::MechanismVisualizer,
q = interpolated_configurations(t)
set_configuration!(state, q)
rbd.normalize_configuration!(state)
_render_state!(vis)
_render_state!(mvis)
framenum += 1
t == tf && break
end max_rate = fps
end

function MeshCat.Animation(mvis::MechanismVisualizer,
times::AbstractVector{<:Real},
configurations::AbstractVector{<:AbstractVector{<:Real}};
fps::Integer=30)
times::AbstractVector{<:Real},
configurations::AbstractVector{<:AbstractVector{<:Real}};
fps::Integer=30)
@assert axes(times) == axes(configurations)
interpolated_configurations = interpolate((times,), configurations, Gridded(Linear()))
animation = Animation()
animation = Animation(mvis.visualizer["/meshcat"])
num_frames = floor(Int, (times[end] - first(times)) * fps)
for frame in 0 : num_frames
time = first(times) + frame / fps
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