Enhance MeshcatVisualizer to support base frame in load_model method #1229
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This PR is required for: ami-iit/robot-log-visualizer#93 |
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I have just a double on the name. At the moment we only support |
| base_frame_index = self.model[model_name].getFrameIndex(base_frame) | ||
| self.model[model_name].computeFullTreeTraversal(self.traversal[model_name], base_frame_index) |
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Should we handle somehow the case in which base_frame (or base_link, see the other comment) is not a valid name?
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@GiulioRomualdi I may be missing something, but it does not seem that 08b75f2 handles the case in which base_link is not a valid name?
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My fault : d1d688d
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Actually I got
if base_link_index == idyn.LINK_INVALID_INDEX:
AttributeError: module 'idyntree.bindings' has no attribute 'LINK_INVALID_INDEX'
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I was wondering if LINK_INVALID_INDEX is exported in python given: https://github.com/search?q=repo%3Arobotology%2Fidyntree%20LINK_INVALID_INDEX&type=code
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Strange, it seems exposed at least on MATLAB:
. Anyhow, you can hardcode-1, see idyntree/src/model/src/Indices.cpp
Line 9 in 83bd07a
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or check if it is smaller than 0.
Co-authored-by: Silvio Traversaro <[email protected]>
Co-authored-by: Silvio Traversaro <[email protected]>
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See #1229 (comment) . |
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Thanks! |
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Can i squash? |
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Sure! |
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I released this change in iDynTree 13.3.0 : https://github.com/robotology/idyntree/releases/tag/v13.3.0 . |
This pull request includes modifications to the
bindings/python/visualize/meshcat_visualizer.pyfile to enhance theload_modelmethod by adding support for an optionalbase_frameparameter. This change allows for more flexible model loading by specifying a base frame for the model's traversal computation.