Verified Commit 50f49cc7 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python/meshcat: enforce scaling only for meshes

parent 24dbede8
......@@ -259,9 +259,12 @@ class MeshcatVisualizer(BaseVisualizer):
# Get mesh pose.
M = self.visual_data.oMg[self.visual_model.getGeometryId(]
# Manage scaling
if self.isMesh(visual):
scale = np.asarray(visual.meshScale).flatten()
S = np.diag(np.concatenate((scale,[1.0])))
T = np.array(M.homogeneous).dot(S)
T = M.homogeneous
# Update viewer configuration.
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