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stephane-caron / pink

Python inverse kinematics based on Pinocchio
Apache License 2.0
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Display a TF tree using pinocchio model #13

Closed whtqh closed 1 year ago

whtqh commented 1 year ago

Dear Caron: I found this repo by using Pinocchio when I tried to learn more about Meshcat, and thanks a lot for your code, I get some inspiration for drawing a TF tree for a robot model. My understanding of this code in pink

meshcat_shapes.frame(viewer["left_contact_target"], opacity=0.5)

is that we will replace the old object with a new frame. My question is if we could just add the frame by using addGeometryObject?

Thanks for your help! heaty

stephane-caron commented 1 year ago

Yep, both behaviors are possible. There is currently no particular reason why the object is replaced rather than added. Feel free to open a PR in meshcat-shapes if the additive behavior is better for your use case.