pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer Class Reference

Inheritance diagram for pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer:

Public Member Functions
def	clean (self)
def	delete (self, geometry_object, geometry_type)
def	display (self, q=None)
def	displayCollisions (self, visibility)
def	displayVisuals (self, visibility)
def	getViewerNodeName (self, geometry_object, geometry_type)
def	initViewer (self, viewer=None, open=False, loadModel=False)
def	loadMesh (self, geometry_object)
def	loadPrimitive (self, geometry_object)
def	loadViewerGeometryObject (self, geometry_object, geometry_type, color=None)
def	loadViewerModel (self, rootNodeName="pinocchio", color=None)
def	reload (self, new_geometry_object, geometry_type=None)

Public Attributes
	viewer
	viewerCollisionGroupName
	viewerRootNodeName
	viewerVisualGroupName

Detailed Description

A Pinocchio display using Meshcat

Definition at line 81 of file meshcat_visualizer.py.

Member Function Documentation

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.clean

(

self

)

Definition at line 230 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.delete	(		self,
			geometry_object,
			geometry_type
	)

Definition at line 233 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.display	(		self,
			q = None
	)

Display the robot at configuration q in the viewer by placing all the bodies.

Definition at line 237 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.displayCollisions	(		self,
			visibility
	)

Set whether to display collision objects or not.
WARNING: Plotting collision meshes is not yet available for MeshcatVisualizer.

Definition at line 253 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.displayVisuals	(		self,
			visibility
	)

Set whether to display visual objects or not
WARNING: Visual meshes are always plotted for MeshcatVisualizer

Definition at line 259 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.getViewerNodeName	(		self,
			geometry_object,
			geometry_type
	)

Return the name of the geometry object inside the viewer.

Definition at line 84 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.initViewer	(		self,
			viewer = None,
			open = False,
			loadModel = False
	)

Start a new MeshCat server and client.
Note: the server can also be started separately using the "meshcat-server" command in a terminal:
this enables the server to remain active after the current script ends.

Definition at line 91 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.loadMesh	(		self,
			geometry_object
	)

Definition at line 137 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.loadPrimitive	(		self,
			geometry_object
	)

Definition at line 107 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.loadViewerGeometryObject	(		self,
			geometry_object,
			geometry_type,
			color = None
	)

Load a single geometry object

Definition at line 162 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.loadViewerModel	(		self,
			rootNodeName = "pinocchio",
			color = None
	)

Load the robot in a MeshCat viewer.
Parameters:
    rootNodeName: name to give to the robot in the viewer
    color: optional, color to give to the robot. This overwrites the color present in the urdf.
   Format is a list of four RGBA floats (between 0 and 1)

Definition at line 198 of file meshcat_visualizer.py.

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.reload	(		self,
			new_geometry_object,
			geometry_type = None
	)

Reload a geometry_object given by its name and its type

Definition at line 221 of file meshcat_visualizer.py.

Member Data Documentation

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewer

Definition at line 99 of file meshcat_visualizer.py.

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerCollisionGroupName

Definition at line 213 of file meshcat_visualizer.py.

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerRootNodeName

Definition at line 207 of file meshcat_visualizer.py.

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerVisualGroupName

Definition at line 216 of file meshcat_visualizer.py.

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The documentation for this class was generated from the following file:

• meshcat_visualizer.py