Add the possibility to change the baseframe in the visualizer

[GiulioRomualdi]

Thanks to this PR the user will be able to change the base on the visualizer. This is useful if someone wants to use signals as a base pose — for instance, waist imu-base orientation.

This is an example of usage

imu_base.mp4

Caution

This PR needs robotology/idyntree#1229

[traversaro]

I am a a bit confused by the video. If I am not wrong, waist_imu_0 is an additional frame, so passing as base_link is not valid. Are you sure that the visualizer works as intended or perhaps it is still using the base_link as base link?

[GiulioRomualdi]

I am a a bit confused by the video. If I am not wrong, waist_imu_0 is an additional frame, so passing as base_link is not valid. Are you sure that the visualizer works as intended or perhaps it is still using the base_link as base link?

Here we can pass whichever frame we want since the fixed transformation between the link and frame is kept in the visualizer and used as additional transformation

robot-log-visualizer/robot_log_visualizer/robot_visualizer/meshcat_provider.py

Lines 174 to 179 in 9c40bb5

	else:
	base_frame_index = model.getFrameIndex(base_frame)
	frame_T_base = model.getFrameTransform(base_frame_index)
	frame_T_base = frame_T_base.inverse().asHomogeneousTransform()
	self.frame_T_base = frame_T_base.toNumPy()

[traversaro]

I am a a bit confused by the video. If I am not wrong, waist_imu_0 is an additional frame, so passing as base_link is not valid. Are you sure that the visualizer works as intended or perhaps it is still using the base_link as base link?

Here we can pass whichever frame we want since the fixed transformation between the link and frame is kept in the visualizer and used as additional transformation

robot-log-visualizer/robot_log_visualizer/robot_visualizer/meshcat_provider.py

Lines 174 to 179 in 9c40bb5

	else:
	base_frame_index = model.getFrameIndex(base_frame)
	frame_T_base = model.getFrameTransform(base_frame_index)
	frame_T_base = frame_T_base.inverse().asHomogeneousTransform()
	self.frame_T_base = frame_T_base.toNumPy()

Ah thanks, it was not clear to me!

[traversaro]

This PR needs robotology/idyntree#1229

This is released in iDynTree 13.3.0 .