pinocchio.visualize.meshcat_visualizer Namespace Reference

Classes
class	Cone
class	DaeMeshGeometry
class	MeshcatVisualizer
class	Plane

Functions
np.ndarray	applyScalingOnHomegeneousTransform (np.ndarray homogeneous_transform, np.ndarray scale)
def	createCapsule (length, radius, radial_resolution=30, cap_resolution=10)
def	getColor (color)
def	hasMeshFileInfo (geometry_object)
def	loadMesh (mesh)
def	loadOctree (hppfcl.OcTree octree)
def	loadOctree (octree)
def	loadPrimitive (geometry_object)

Variables
list	__all__ = ["MeshcatVisualizer"]
dictionary	COLOR_PRESETS = DEFAULT_COLOR_PROFILES.copy()
dictionary	DEFAULT_COLOR_PROFILES
tuple	FRAME_AXIS_COLORS
tuple	FRAME_AXIS_POSITIONS
bool	import_meshcat_succeed = False
	MsgType = dict[str, Union[str, bytes, bool, float, "MsgType"]]
bool	WITH_HPP_FCL_BINDINGS = True

Function Documentation

applyScalingOnHomegeneousTransform()

np.ndarray pinocchio.visualize.meshcat_visualizer.applyScalingOnHomegeneousTransform	(	np.ndarray	homogeneous_transform,
		np.ndarray	scale
	)

Definition at line 77 of file meshcat_visualizer.py.

createCapsule()

def pinocchio.visualize.meshcat_visualizer.createCapsule	(		length,
			radius,
			radial_resolution = 30,
			cap_resolution = 10
	)

Definition at line 487 of file meshcat_visualizer.py.

getColor()

def pinocchio.visualize.meshcat_visualizer.getColor

(

color

)

Definition at line 58 of file meshcat_visualizer.py.

hasMeshFileInfo()

def pinocchio.visualize.meshcat_visualizer.hasMeshFileInfo

(

geometry_object

)

Check whether the geometry object contains a Mesh supported by MeshCat

Definition at line 65 of file meshcat_visualizer.py.

loadMesh()

def pinocchio.visualize.meshcat_visualizer.loadMesh

(

mesh

)

Definition at line 305 of file meshcat_visualizer.py.

loadOctree() [1/2]

def pinocchio.visualize.meshcat_visualizer.loadOctree

(

hppfcl.OcTree

octree

)

Definition at line 235 of file meshcat_visualizer.py.

loadOctree() [2/2]

def pinocchio.visualize.meshcat_visualizer.loadOctree

(

octree

)

Definition at line 299 of file meshcat_visualizer.py.

loadPrimitive()

def pinocchio.visualize.meshcat_visualizer.loadPrimitive

(

geometry_object

)

Definition at line 445 of file meshcat_visualizer.py.

Variable Documentation

__all__

list pinocchio.visualize.meshcat_visualizer.__all__ = ["MeshcatVisualizer"]

private

Definition at line 1144 of file meshcat_visualizer.py.

COLOR_PRESETS

dictionary pinocchio.visualize.meshcat_visualizer.COLOR_PRESETS = DEFAULT_COLOR_PROFILES.copy()

Definition at line 44 of file meshcat_visualizer.py.

DEFAULT_COLOR_PROFILES

dictionary pinocchio.visualize.meshcat_visualizer.DEFAULT_COLOR_PROFILES

Initial value:

=  {
    "gray": ([0.98, 0.98, 0.98], [0.8, 0.8, 0.8]),
    "white": ([1.0, 1.0, 1.0], [1.0, 1.0, 1.0]),
}

Definition at line 40 of file meshcat_visualizer.py.

FRAME_AXIS_COLORS

tuple pinocchio.visualize.meshcat_visualizer.FRAME_AXIS_COLORS

Initial value:

=  (
    np.array([[1, 0, 0], [1, 0.6, 0], [0, 1, 0], [0.6, 1, 0], [0, 0, 1], [0, 0.6, 1]])
    .astype(np.float32)
    .T
)

Definition at line 51 of file meshcat_visualizer.py.

FRAME_AXIS_POSITIONS

tuple pinocchio.visualize.meshcat_visualizer.FRAME_AXIS_POSITIONS

Initial value:

=  (
    np.array([[0, 0, 0], [1, 0, 0], [0, 0, 0], [0, 1, 0], [0, 0, 0], [0, 0, 1]])
    .astype(np.float32)
    .T
)

Definition at line 46 of file meshcat_visualizer.py.

import_meshcat_succeed

bool pinocchio.visualize.meshcat_visualizer.import_meshcat_succeed = False

Definition at line 20 of file meshcat_visualizer.py.

MsgType

pinocchio.visualize.meshcat_visualizer.MsgType = dict[str, Union[str, bytes, bool, float, "MsgType"]]

Definition at line 31 of file meshcat_visualizer.py.

WITH_HPP_FCL_BINDINGS

bool pinocchio.visualize.meshcat_visualizer.WITH_HPP_FCL_BINDINGS = True

Definition at line 36 of file meshcat_visualizer.py.