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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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6 changes: 3 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 @@ -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, base_frame = None, model_name="iDynTree", color=None):
def load_model(self, model: idyn.Model, base_link = None, model_name="iDynTree", color=None):

# check if the model already exist
if self.__model_exists(model_name):
Expand All @@ -636,8 +636,8 @@ def load_model(self, model: idyn.Model, base_frame = None, model_name="iDynTree"
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)
base_link_index = self.model[model_name].getFrameIndex(base_link)
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self.model[model_name].computeFullTreeTraversal(self.traversal[model_name], base_link_index)

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

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