Animation constructor

[tkoolen]

On top of #33.

Extract out Animation constructor. In the medium term, I think we should deprecate the setanimation! overload. But that's for later.

[ferrolho]

Calling setanimation!, e.g., setanimation!(mvis, t, qs), yields this on #master:

MethodError: no method matching Tuple{AbstractArray{T,1} where T}(::Array{RigidBody{Float64},1}, ::Int64, ::Int64)
Closest candidates are:
  Tuple{AbstractArray{T,1} where T}(::Any) where T<:Tuple at tuple.jl:246

Stacktrace:
 [1] reverse at /home/henrique/.julia/packages/Cassette/N8DMt/src/context.jl:447 [inlined]
 [2] overdub(::Cassette.Context{nametype(AnimationCtx),Tuple{MeshCat.Animation,Int64},Nothing,getfield(Cassette, Symbol("##PassType#365")),Nothing,Nothing}, ::typeof(invoke), ::typeof(reverse), ::Type{Tuple{AbstractArray{T,1} where T}}, ::Array{RigidBody{Float64},1}) at /home/henrique/.julia/packages/Cassette/N8DMt/src/overdub.jl:0
 [3] reverse at ./array.jl:1466 [inlined]
 [4] overdub(::Cassette.Context{nametype(AnimationCtx),Tuple{MeshCat.Animation,Int64},Nothing,getfield(Cassette, Symbol("##PassType#365")),Nothing,Nothing}, ::typeof(reverse), ::Array{RigidBody{Float64},1}) at /home/henrique/.julia/packages/Cassette/N8DMt/src/overdub.jl:0
 [5] _path at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/visualizer.jl:120 [inlined]
 [6] overdub(::Cassette.Context{nametype(AnimationCtx),Tuple{MeshCat.Animation,Int64},Nothing,getfield(Cassette, Symbol("##PassType#365")),Nothing,Nothing}, ::typeof(MeshCatMechanisms._path), ::Mechanism{Float64}, ::RigidBody{Float64}) at /home/henrique/.julia/packages/Cassette/N8DMt/src/overdub.jl:0
 [7] getindex at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/visualizer.jl:48 [inlined]
 [8] overdub(::Cassette.Context{nametype(AnimationCtx),Tuple{MeshCat.Animation,Int64},Nothing,getfield(Cassette, Symbol("##PassType#365")),Nothing,Nothing}, ::typeof(getindex), ::MechanismVisualizer{MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Revolute{Float64}},1}},1}},Visualizer}, ::RigidBody{Float64}) at /home/henrique/.julia/packages/Cassette/N8DMt/src/overdub.jl:0
 [9] _render_state! at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/visualizer.jl:137 [inlined]
 [10] overdub(::Cassette.Context{nametype(AnimationCtx),Tuple{MeshCat.Animation,Int64},Nothing,getfield(Cassette, Symbol("##PassType#365")),Nothing,Nothing}, ::typeof(MeshCatMechanisms._render_state!), ::MechanismVisualizer{MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Revolute{Float64}},1}},1}},Visualizer}, ::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Revolute{Float64}},1}},1}}) at /home/henrique/.julia/packages/Cassette/N8DMt/src/overdub.jl:0
 [11] _render_state! at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/visualizer.jl:125 [inlined]
 [12] #5 at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/animate.jl:48 [inlined]
 [13] #51 at /home/henrique/.julia/packages/MeshCat/rIG2y/src/atframe.jl:80 [inlined]
 [14] atframe at /home/henrique/.julia/packages/MeshCat/rIG2y/src/atframe.jl:62 [inlined]
 [15] atframe at /home/henrique/.julia/packages/MeshCat/rIG2y/src/atframe.jl:80 [inlined]
 [16] #setanimation!#4(::Int64, ::Bool, ::Int64, ::Function, ::MechanismVisualizer{MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Revolute{Float64}},1}},1}},Visualizer}, ::StepRangeLen{Float64,Base.TwicePrecision{Float64},Base.TwicePrecision{Float64}}, ::Array{SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},1}) at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/animate.jl:47
 [17] setanimation!(::MechanismVisualizer{MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Revolute{Float64}},1}},1}},Visualizer}, ::StepRangeLen{Float64,Base.TwicePrecision{Float64},Base.TwicePrecision{Float64}}, ::Array{SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},1}) at /home/henrique/.julia/packages/MeshCatMechanisms/L2mYm/src/animate.jl:39
 [18] top-level scope at In[104]:1

[tkoolen]

Oh, darn. This should be worked around in https://github.com/JuliaRobotics/MeshCatMechanisms.jl/pull/33 (which I thought was already merged and tagged), and fixed in https://github.com/jrevels/Cassette.jl/pull/137.

[tkoolen]

Ah, but that's only with MeshCat master, not any released version (MeshCat 0.7 doesn't have the Cassette animation yet). Also it should be worked around if you're actually using this PR branch rather than MeshCatMechanisms master, since it contains #33.

[ferrolho]

Yes, this is not with the released version. As a temporary workaround, and to be on MeshCat master, I ended up forking this and merging /tk/meshfileobject-hack on top of /tk/develop to get the .dae and the animation working. Works for now :stuck_out_tongue:

[tkoolen]

Actually, you should just be able to do a ] up to get the latest version of Cassette (released this morning), which contains my fix to the issue you reported.

[codecov-io]

Codecov Report

Merging #34 into master will increase coverage by 0.05%. The diff coverage is 100%.

@@            Coverage Diff             @@
##           master      #34      +/-   ##
==========================================
+ Coverage   96.69%   96.74%   +0.05%     
==========================================
  Files           5        5              
  Lines         121      123       +2     
==========================================
+ Hits          117      119       +2     
  Misses          4        4

Impacted Files	Coverage Δ
src/animate.jl	100% <100%> (ø)	:arrow_up:

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