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🐛 Prevent the generation of an error when certain logged joints are not located in the URDF #70

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merged 1 commit into from
Nov 14, 2023
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🐛 Prevent the generation of an error when certain logged joints are not located in the URDF #70

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40 changes: 37 additions & 3 deletions robot_log_visualizer/robot_visualizer/meshcat_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,16 +57,42 @@ def check_if_model_exist(folder_path, model):
path = folder_path / Path(model)
return path.is_dir()

# Find the index of the model joints in the considered joints
# This function is required if some of the considered joints are not in the model
# For instance in underactuated robots
def find_model_joints(model_name, considered_joints):
ml = idyn.ModelLoader()
ml.loadModelFromFile(model_name)
model_joints_index = []
model = ml.model()
number_of_joints = model.getNrOfJoints()
for i in range(number_of_joints):
joint_name = model.getJointName(i)
if joint_name in considered_joints:
# find the index of the joint in the considered joints
index = considered_joints.index(joint_name)
model_joints_index.append(index)

return model_joints_index

self._is_model_loaded = False

# Load the model
model_loader = idyn.ModelLoader()

self.model_joints_index = []
# In this case the user specify the model path
if self.custom_model_path:
self.model_joints_index = find_model_joints(
self.custom_model_path, considered_joints
)
considered_model_joints = [
considered_joints[i] for i in self.model_joints_index
]

model_loader.loadReducedModelFromFile(
self.custom_model_path,
considered_joints,
considered_model_joints,
"urdf",
[self.custom_package_dir],
)
Expand All @@ -93,9 +119,15 @@ def check_if_model_exist(folder_path, model):
if not model_found_in_env_folders:
return False

model_loader.loadReducedModelFromFile(
self.model_joints_index = find_model_joints(
self.custom_model_path, considered_joints
)
considered_model_joints = [
considered_joints[i] for i in self.model_joints_index
]
model_loader.loadReducedModelFromFile(
self.custom_model_path, considered_model_joints
)

if not model_loader.isValid():
return False
Expand Down Expand Up @@ -124,7 +156,9 @@ def run(self):
self.meshcat_visualizer.set_multibody_system_state(
base_position,
base_rotation,
joint_value=joints[self._signal_provider.index, :],
joint_value=joints[
self._signal_provider.index, self.model_joints_index
],
model_name="robot",
)

Expand Down