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Update meshcat_visualizer.py by adding set_property #1225

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merged 1 commit into from
Jan 10, 2025
Merged

Update meshcat_visualizer.py by adding set_property #1225

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10 changes: 10 additions & 0 deletions bindings/python/visualize/meshcat_visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -581,6 +581,16 @@ def set_arrow_transform(self, origin, vector, shape_name="iDynTree"):
with self._animation.at_frame(self.viewer, self._current_frame) as frame:
frame[shape_name].set_transform(transform)

def set_primitive_geometry_property(
self, property_name, value, shape_name="iDynTree"
):
if self.__primitive_geometry_exists(shape_name):
if self._animation is None:
self.viewer[shape_name].set_property(key=property_name, value=value)
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
):
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