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Enhance MeshcatVisualizer to support base frame in load_model method #1229

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merged 6 commits into from
Feb 11, 2025
Merged

Enhance MeshcatVisualizer to support base frame in load_model method #1229

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62fc5cc
Enhance MeshcatVisualizer to support base frame in load_model method
GiulioRomualdi Feb 7, 2025
08b75f2
Use base_link instead of base_frame in MeshcatVisualizer
GiulioRomualdi Feb 10, 2025
0e35d68
Update bindings/python/visualize/meshcat_visualizer.py
GiulioRomualdi Feb 10, 2025
cad522d
Update bindings/python/visualize/meshcat_visualizer.py
GiulioRomualdi Feb 10, 2025
d1d688d
Consider the case in which the base_link_index is invalid
GiulioRomualdi Feb 10, 2025
ecd5804
avoid to use idyn.LINK_INVALID_INDEX
GiulioRomualdi Feb 10, 2025
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11 changes: 8 additions & 3 deletions bindings/python/visualize/meshcat_visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -590,7 +590,7 @@ def set_primitive_geometry_property(
else:
with self._animation.at_frame(self.viewer, self._current_frame) as frame:
raise NotImplementedError("The set_property method is not implemented for animations.")

def load_model_from_file(
self, model_path: str, considered_joints=None, model_name="iDynTree", color=None
):
Expand Down Expand Up @@ -621,7 +621,7 @@ def load_model_from_file(

self.load_model(model=model_loader.model(), model_name=model_name, color=color)

def load_model(self, model: idyn.Model, model_name="iDynTree", color=None):
def load_model(self, model: idyn.Model, base_frame = None, model_name="iDynTree", color=None):

# check if the model already exist
if self.__model_exists(model_name):
Expand All @@ -633,7 +633,12 @@ def load_model(self, model: idyn.Model, model_name="iDynTree", color=None):
self.traversal[model_name] = idyn.Traversal()
self.link_pos[model_name] = idyn.LinkPositions()

self.model[model_name].computeFullTreeTraversal(self.traversal[model_name])
if base_frame is None:
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self.model[model_name].computeFullTreeTraversal(self.traversal[model_name])
else:
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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@traversaro traversaro Feb 7, 2025 •
edited
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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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Done!

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08b75f2

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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:

idyntree/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m

Line 4 in 83bd07a

nargoutchk(0,1)
. Anyhow, you can hardcode -1, see

idyntree/src/model/src/Indices.cpp

Line 9 in 83bd07a

LinkIndex LINK_INVALID_INDEX = -1;
.

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or check if it is smaller than 0.


self.link_pos[model_name].resize(self.model[model_name])

self.__add_model_geometry_to_viewer(
Expand Down
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