Merge pull request #93 from Ipuch/pin

fix(dof names in pinocchio models interface)

Author: Ipuch

README.md

@@ -4,7 +4,7 @@
 We can rerun c3d files and display their original content.
 And also animate biorbd models from the pyomeca organization.
 
-``` conda install -c conda-forge pyorerun rerun-sdk=0.24.1```
+``` conda install -c conda-forge pyorerun rerun-sdk=0.27.2```
 ``` pip install trc-data-reader``` # for .trc file support
 ``` conda install opensim-org::opensim   # not a mandatory dependency```
 ``` conda install -c conda-forge biobuddy=0.2.0   # not a mandatory dependency```
@@ -59,7 +59,7 @@ animation.rerun()
 ```
 
 ## From source
-```conda install -c conda-forge ezc3d rerun-sdk=0.24 trimesh numpy biorbd pyomeca tk imageio imageio-ffmpeg```
+```conda install -c conda-forge ezc3d rerun-sdk=0.27.2 trimesh numpy biorbd pyomeca tk imageio imageio-ffmpeg```
 
 if you want to use the OpenSim, you also need to install separately:
 ```conda install -c opensim-org::opensim```

environment.yml

@@ -5,7 +5,7 @@ channels:
 - opensim-org
 dependencies:
 - ezc3d
-- rerun-sdk=0.24.1
+- rerun-sdk=0.27.2
 - numpy
 - matplotlib
 - biorbd>=1.10.5

pyorerun/model_interfaces/pinocchio_model_interface.py

@@ -63,8 +63,6 @@ def mesh_path(self) -> list[str]:
                         ".mesh",
                         ".ply",
                     ]:
-                        if self._mesh_dir and not os.path.isabs(mesh_path_str):
-                            mesh_path_str = str(self._mesh_dir / mesh_path_str)
                         mesh_paths.append(mesh_path_str)
         return mesh_paths
 
@@ -158,10 +156,9 @@ def marker_names(self) -> tuple[str, ...]:
         In Pinocchio, markers can be represented as frames or operational frames.
         This returns all frame names that could represent markers.
         """
-        # Get all frames that are not joint frames
         marker_frames = []
         for frame in self.model.frames:
-            if frame.type == pin.FrameType.OP_FRAME:
+            if frame.type == pin.FrameType.SENSOR:
                 marker_frames.append(frame.name)
         return tuple(marker_frames)
 
@@ -275,8 +272,21 @@ def nb_q(self) -> int:
     def dof_names(self) -> tuple[str, ...]:
         """
         Returns the names of all degrees of freedom.
+
+        Notes
+        -----
+        We need to skip the first joint (universe) as it has no DoFs.
+        Joint DoFs can have individual names if they have multiple DoFs (e.g., a 3-DoF joint).
         """
-        return tuple(self.model.names[1:])  # Skip universe/world
+        dof_names = []
+        for joint, name in zip(self.model.joints[1:], self.model.names[1:]):
+            if joint.nq == 0:
+                continue
+
+            for k in range(joint.nq):
+                dof_names.append(f"{name}_{k}")
+
+        return tuple(dof_names)
 
     @cached_property
     def q_ranges(self) -> tuple[tuple[float, float], ...]:

pyproject.toml

@@ -22,7 +22,7 @@ classifiers = [
 dependencies = [
     "ezc3d",  # Now needed, but imported for our custom PyoMarkers.from_c3d()
     "numpy",
-    "rerun-sdk==0.24.1",
+    "rerun-sdk==0.27.2",
     "trimesh",
     "tk",
     "imageio",

setup.py

@@ -6,7 +6,7 @@
     install_requires=[
         "ezc3d",  # Not yet available on pypi, use `conda install -c conda-forge ezc3d`
         "numpy",
-        "rerun-sdk=0.24.1",
+        "rerun-sdk=0.27.2",
         "trimesh",
         "tk",
         "imageio",