From 27f6b7e7bd102283f8f9ca871ed55c6d26b3763a Mon Sep 17 00:00:00 2001
From: Jeremy Morgan <jsmorgan6@gmail.com>
Date: Sun, 29 Sep 2024 21:20:01 -0400
Subject: [PATCH] first pass. todo: write own mesh3d adder / rotator, add
 floor, add plots, add plot_trajectory()

---
 .gitignore                     |    3 +-
 poetry.lock                    | 1022 +++++++++++++++++---------------
 pyproject.toml                 |    1 +
 scripts/rerun_example.py       |   64 ++
 scripts/rerun_example_panda.py |   29 +
 thirdparty/.gitkeep            |    0
 6 files changed, 656 insertions(+), 463 deletions(-)
 create mode 100644 scripts/rerun_example.py
 create mode 100644 scripts/rerun_example_panda.py
 create mode 100644 thirdparty/.gitkeep

diff --git a/.gitignore b/.gitignore
index 009295e..285f220 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,4 +14,5 @@ scripts/*.pdf
 *.npy
 scripts/warp_test.py
 .pytest_cache/
-venv-test/
\ No newline at end of file
+venv-test/
+thirdparty/rerun-loader-python-example-urdf
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
index abaf159..b58e6f7 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -176,78 +176,78 @@ css = ["tinycss2 (>=1.1.0,<1.3)"]
 
 [[package]]
 name = "cffi"
-version = "1.17.0"
+version = "1.17.1"
 description = "Foreign Function Interface for Python calling C code."
 optional = false
 python-versions = ">=3.8"
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 [package.dependencies]
@@ -389,37 +389,31 @@ test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
 
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 [package.extras]
@@ -655,13 +649,13 @@ test = ["pytest (>=6)"]
 
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@@ -764,13 +764,13 @@ woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
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@@ -803,40 +803,48 @@ tqdm = ["tqdm"]
 
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+type = ["pytest-mypy"]
 
 [[package]]
 name = "iniconfig"
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 [[package]]
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 [[package]]
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 [package.dependencies]
@@ -2754,7 +2823,7 @@ scipy = ">=0.13.2"
 
 [[package]]
 name = "qpth"
-version = "0.0.17"
+version = "0.0.18"
 description = "A fast and differentiable QP solver for PyTorch."
 optional = false
 python-versions = "*"
@@ -2769,7 +2838,7 @@ numpy = ">=1,<2"
 type = "git"
 url = "https://github.com/locuslab/qpth"
 reference = "HEAD"
-resolved_reference = "ead299eb363b552de6626da470a688d16d27f661"
+resolved_reference = "528e9f629c7d0cfeef766bbcf4902e2fe264c61c"
 
 [[package]]
 name = "referencing"
@@ -2786,6 +2855,31 @@ files = [
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 rpds-py = ">=0.7.0"
 
+[[package]]
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+description = "The Rerun Logging SDK"
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+numpy = ">=1.23,<2"
+pillow = ">=8.0.0"
+pyarrow = ">=14.0.2"
+typing-extensions = ">=4.5"
+
+[package.extras]
+notebook = ["rerun-notebook (==0.18.2)"]
+tests = ["pytest (==7.1.2)"]
+
 [[package]]
 name = "rpds-py"
 version = "0.20.0"
@@ -2938,34 +3032,34 @@ test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeo
 
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+    {file = "scs-3.2.7-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d91ab6d26b6aaf14905c1295c331cef2ed956a16b92228de2fa58723729f6d7"},
+    {file = "scs-3.2.7-cp312-cp312-win_amd64.whl", hash = "sha256:ab42697c7b8deeb2bb800b4d7ff6ab6c313d2f235f0d031f85a38f986a29006e"},
+    {file = "scs-3.2.7-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:5f614e6712de99164d03c59f5d63fbd8a2bc3812ca80702a53427d28b6d3c95f"},
+    {file = "scs-3.2.7-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:bbe3bfc15cb24f49694621e565c3b292652f51950ad9761c64610106dc7de7c5"},
+    {file = "scs-3.2.7-cp38-cp38-macosx_13_0_x86_64.whl", hash = "sha256:2f4cad93b2daeede46f60a417a155b15dcd93576ce12a2e9ac36256835d269ae"},
+    {file = "scs-3.2.7-cp38-cp38-macosx_14_0_arm64.whl", hash = "sha256:59bc90ed8405c7fb1695ed9199560799dd83e4484697b627d85176c0d4d9f040"},
+    {file = "scs-3.2.7-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8fcef57ab8025ca07b6a6fd27ae1f01ebbde07ef10e29b100ab8dc0b3b177ad1"},
+    {file = "scs-3.2.7-cp38-cp38-win_amd64.whl", hash = "sha256:33d2fe12c89b2f6fa520ea6f5e7ba43b0414001a9b6fe466121168ad2e0ed8f1"},
+    {file = "scs-3.2.7-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:e294c89af85a508fc284191ceabbe8526838edd8084e35a4d323aeb604317e53"},
+    {file = "scs-3.2.7-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:92390a829c9152c890df022df056de68ab74d08aee45323f91b0eca7cf29c915"},
+    {file = "scs-3.2.7-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f9a45baf1f15c443b7fcacc49df395936add43487ea5ded6a2223aa7d72638f3"},
+    {file = "scs-3.2.7-cp39-cp39-win_amd64.whl", hash = "sha256:cb210a67f4e4f7089a5e6c3b19b8354124975f3e598f73e9af90648f696fbeef"},
+    {file = "scs-3.2.7.tar.gz", hash = "sha256:e89d81752ef241d7e408f21d0b69cde9bb6ce196241482e17f763cba5a7d9497"},
 ]
 
 [package.dependencies]
@@ -3015,13 +3109,13 @@ tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
 
 [[package]]
 name = "sympy"
-version = "1.13.2"
+version = "1.13.3"
 description = "Computer algebra system (CAS) in Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "sympy-1.13.2-py3-none-any.whl", hash = "sha256:c51d75517712f1aed280d4ce58506a4a88d635d6b5dd48b39102a7ae1f3fcfe9"},
-    {file = "sympy-1.13.2.tar.gz", hash = "sha256:401449d84d07be9d0c7a46a64bd54fe097667d5e7181bfe67ec777be9e01cb13"},
+    {file = "sympy-1.13.3-py3-none-any.whl", hash = "sha256:54612cf55a62755ee71824ce692986f23c88ffa77207b30c1368eda4a7060f73"},
+    {file = "sympy-1.13.3.tar.gz", hash = "sha256:b27fd2c6530e0ab39e275fc9b683895367e51d5da91baa8d3d64db2565fec4d9"},
 ]
 
 [package.dependencies]
@@ -3074,13 +3168,13 @@ files = [
 
 [[package]]
 name = "tomlkit"
-version = "0.13.1"
+version = "0.13.2"
 description = "Style preserving TOML library"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "tomlkit-0.13.1-py3-none-any.whl", hash = "sha256:fb12e89373b28f3cd6679035324770123d6df04488431e1c7bcecf17820ee2e4"},
-    {file = "tomlkit-0.13.1.tar.gz", hash = "sha256:1be06879860054a26faba7acf2af62b45c94aa43b00a5f87fc445c5f930ad754"},
+    {file = "tomlkit-0.13.2-py3-none-any.whl", hash = "sha256:7a974427f6e119197f670fbbbeae7bef749a6c14e793db934baefc1b5f03efde"},
+    {file = "tomlkit-0.13.2.tar.gz", hash = "sha256:fff5fe59a87295b278abd31bec92c15d9bc4a06885ab12bcea52c71119392e79"},
 ]
 
 [[package]]
@@ -3416,20 +3510,24 @@ files = [
 
 [[package]]
 name = "zipp"
-version = "3.20.0"
+version = "3.20.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.20.0-py3-none-any.whl", hash = "sha256:58da6168be89f0be59beb194da1250516fdaa062ccebd30127ac65d30045e10d"},
-    {file = "zipp-3.20.0.tar.gz", hash = "sha256:0145e43d89664cfe1a2e533adc75adafed82fe2da404b4bbb6b026c0157bdb31"},
+    {file = "zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350"},
+    {file = "zipp-3.20.2.tar.gz", hash = "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29"},
 ]
 
 [package.extras]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
+type = ["pytest-mypy"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.8.0,<=3.8.19"
-content-hash = "8f317a9fec9ab8d1af1c25ba202bed9674fa53e73f5b6b294c0b45ad6b8084c7"
+content-hash = "5d34a50fb0e6bc9d7cefeaf11264a9b5b8c78409288fdabe73843680af3060ce"
diff --git a/pyproject.toml b/pyproject.toml
index a4a2c9a..8d933ff 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,6 +14,7 @@ more-itertools = "^9.0.0"
 tqdm = "^4.64.1"
 warp-lang = "0.10.1"
 meshcat = "0.3.2"
+rerun-sdk = "^0.18.2"
 
 [tool.poetry.group.dev.dependencies]
 qpth = {git = "https://github.com/locuslab/qpth"}
diff --git a/scripts/rerun_example.py b/scripts/rerun_example.py
new file mode 100644
index 0000000..a46f5f2
--- /dev/null
+++ b/scripts/rerun_example.py
@@ -0,0 +1,64 @@
+import rerun as rr
+import numpy as np
+from math import tau
+from rerun.utilities import build_color_spiral
+from rerun.utilities import bounce_lerp
+from rerun_loader_urdf import URDFLogger
+
+rr.init("rerun_example_my_data", spawn=True)
+rr.set_time_seconds("stable_time", 0)
+
+# rr.stdout() # The most important part of this: log to standard output so the Rerun Viewer can ingest it!
+
+# positions = np.zeros((10, 3))
+# positions[:, 0] = np.linspace(-10, 10, 10)
+# colors = np.zeros((10, 3), dtype=np.uint8)
+# colors[:, 0] = np.linspace(0, 255, 10)
+# rr.log("my_points", rr.Points3D(positions, colors=colors, radii=0.5))
+
+
+# Points and colors are both np.array((NUM_POINTS, 3))
+NUM_POINTS = 100
+points1, colors1 = build_color_spiral(NUM_POINTS)
+points2, colors2 = build_color_spiral(NUM_POINTS, angular_offset=tau*0.5)
+offsets = np.random.rand(NUM_POINTS)
+beads = [bounce_lerp(points1[n], points2[n], offsets[n]) for n in range(NUM_POINTS)]
+colors = [[int(bounce_lerp(80, 230, offsets[n] * 2))] for n in range(NUM_POINTS)]
+rr.log(
+    "dna/structure/scaffolding/beads",
+    rr.Points3D(beads, radii=0.06, colors=np.repeat(colors, 3, axis=-1)),
+)
+rr.log(
+    "dna/structure/scaffolding",
+    rr.LineStrips3D(np.stack((points1, points2), axis=1), colors=[128, 128, 128])
+)
+rr.log("dna/structure/left", rr.Points3D(points1, colors=colors1, radii=0.08))
+rr.log("dna/structure/right", rr.Points3D(points2, colors=colors2, radii=0.08))
+
+
+# prefix = os.path.basename(args.filepath)
+urdf_filepath = "/home/jstm/.cache/jrl/temp_urdfs/panda_arm_hand_formatted_link_filepaths_absolute.urdf"
+# prefix = "my_prefix"
+prefix = None
+urdf_logger = URDFLogger(urdf_filepath, prefix)
+urdf_logger.log()
+print("here")
+
+time_offsets = np.random.rand(NUM_POINTS)
+
+for i in range(400):
+    time = i * 0.01
+    rr.set_time_seconds("stable_time", time)
+
+    times = np.repeat(time, NUM_POINTS) + time_offsets
+    beads = [bounce_lerp(points1[n], points2[n], times[n]) for n in range(NUM_POINTS)]
+    colors = [[int(bounce_lerp(80, 230, times[n] * 2))] for n in range(NUM_POINTS)]
+    rr.log(
+        "dna/structure/scaffolding/beads",
+        rr.Points3D(beads, radii=0.06, colors=np.repeat(colors, 3, axis=-1)),
+    )
+    rr.log(
+        "dna/structure",
+        rr.Transform3D(rotation=rr.RotationAxisAngle(axis=[0, 0, 1], radians=time / 4.0 * tau)),
+    )
+
diff --git a/scripts/rerun_example_panda.py b/scripts/rerun_example_panda.py
new file mode 100644
index 0000000..62492d7
--- /dev/null
+++ b/scripts/rerun_example_panda.py
@@ -0,0 +1,29 @@
+import rerun as rr
+import numpy as np
+import math
+from rerun.utilities import build_color_spiral
+from rerun.utilities import bounce_lerp
+from rerun_loader_urdf import URDFLogger
+
+rr.init("rerun_example_my_data", spawn=True)
+rr.set_time_seconds("stable_time", 0)
+
+# prefix = os.path.basename(args.filepath)
+urdf_filepath = "/home/jstm/.cache/jrl/temp_urdfs/panda_arm_hand_formatted_link_filepaths_absolute.urdf"
+# prefix = "my_prefix"
+prefix = None
+urdf_logger = URDFLogger(urdf_filepath, prefix)
+urdf_logger.log()
+print("here")
+
+TODO: make own urdf logger
+TODO: add floor
+
+# for i in range(400):
+#     time = i * 0.01
+#     rr.set_time_seconds("stable_time", time)
+
+# Log the data on a timeline called "step".
+for step in range(0, 64):
+    rr.set_time_sequence("step", step)
+    rr.log("scalar", rr.Scalar(math.sin(step / 10.0)))
\ No newline at end of file
diff --git a/thirdparty/.gitkeep b/thirdparty/.gitkeep
new file mode 100644
index 0000000..e69de29