"object 'out' not found" error in animateMechanism()

[ghaines3]

Hi Aaron,
The line below in the animateMechanism() function is generating an error where it wasn't before, possibly from an update in Morpho 2.8(?):

transformed <- applyTransform(mechanism[["body.points"]][mechanism[["points.assoc"]][[body_num]], ], mechanism[["tmat"]][, , body_num, ])

It works and generates a single-matrix as an output when the matrix is indexed in the final dimension of mechanism[["tmat"]][, , body_num, ] (ex: mechanism[["tmat"]][, , body_num,1]), but it cannot handle the array that is supplied to it for the full animation.

thanks

Reproducible example:

links<-matrix(c(-0.39069962,-0.32840783,0.07768959,0.06216360, -0.09013900,0.12704082,-0.12182534,-0.08699318,0.13069155,0.14548724,0.01777761,0.05029505),nrow=4,ncol=3, dimnames=list(c("vOp","Op","12","11"),c("X","Y","Z")))

 ## Define the joint coordinates
  joint.coor<-links[,]
  
  # Define the joint types
  joint.types <- c("S", "R", "S", "R")
  
  # Define joint constraints
  joint.cons <- list(diag(3), c(0,0,1), diag(3), c(0,0,1))
 
  # Define two links connected by each joint
  joint.conn <- rbind( c('Op2','Op1'),c('Op1','Op3'), c('Op2','OpM'), c('OpM','Op3'))
  
  # Define ground link
  ground.link <- "Op3"
  
  # Define linkage
  mechanism <- defineMechanism(joint.coor=joint.coor, joint.types=joint.types, 
                               joint.cons=joint.cons, body.conn=joint.conn, fixed=ground.link, input.joint= "Op", 
                               print.progress=FALSE)
  
  # Set input parameters
  input.param <- seq(0,-pi/18,length=30)
  
  # Create simple rectangles representing each body
  mechanism <- associatePointShape(mechanism, shape='rect', body='Op1', ends=joint.coor[c('vOp', 'Op'), ], nvector=c(0,0,1), width=0.01)
  mechanism <- associatePointShape(mechanism, shape='rect', body='Op3', ends=joint.coor[c('Op', '11'), ], nvector=c(0,0,1), width=0.01)
  mechanism <- associatePointShape(mechanism, shape='rect', body='Op2', ends=joint.coor[c('vOp', '12'), ], nvector=c(0,0,1), width=0.01)
  mechanism <- associatePointShape(mechanism, shape='rect', body='OpM', ends=joint.coor[c('12', '11'), ], nvector=c(0,0,1), width=0.01)
 
  # Animate mechanism
  Op4.3d.animated <- animateMechanism(mechanism, input.param=input.param, print.progress=FALSE, check.inter.joint.dist=FALSE)

  # Draw mechanism
  Op4.3d.animate_mechanism <- drawMechanism(Op4.3d.animated, file='Op4.3D.html')