Inheritance diagram for pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer:

Public Member Functions
def	__init__ (self, model=pin.Model(), collision_model=None, visual_model=None, copy_models=False, data=None, collision_data=None, visual_data=None)

def	addGeometryObject (self, pin.GeometryObject obj, color=None)

def	captureImage (self, w=None, h=None)

def	clean (self)

def	delete (self, geometry_object, geometry_type)

def	disableCameraControl (self)

def	display (self, q=None)

def	displayCollisions (self, visibility)

def	displayFrames (self, visibility, frame_ids=None, axis_length=0.2, axis_width=2)

def	displayVisuals (self, visibility)

def	drawFrameVelocities (self, int frame_id, v_scale=0.2, color=FRAME_VEL_COLOR)

def	enableCameraControl (self)

def	getViewerNodeName (self, geometry_object, geometry_type)

def	initializeFrames (self, frame_ids=None, axis_length=0.2, axis_width=2)

def	initViewer (self, viewer=None, open=False, loadModel=False, zmq_url=None)

def	loadMeshFromFile (self, geometry_object)

def	loadPrimitive (self, pin.GeometryObject 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)

def	reset (self)

def	setBackgroundColor (self, str preset_name="gray", col_top=None, col_bot=None)

def	setCameraPose (self, pose)

def	setCameraPosition (self, np.ndarray position)

def	setCameraPreset (self, str preset_key)

def	setCameraTarget (self, np.ndarray target)

def	setCameraZoom (self, float zoom)

def	updateFrames (self)

def	updatePlacements (self, geometry_type)

Public Attributes
	display_collisions

	display_frames

	display_visuals

	frame_ids

	static_objects

	viewer

	viewerCollisionGroupName

	viewerFramesGroupName

	viewerRootNodeName

	viewerVisualGroupName

Static Public Attributes
dictionary	CAMERA_PRESETS

float	FORCE_SCALE = 0.06

int	FRAME_VEL_COLOR = 0x00FF00

Private Member Functions
def	_check_meshcat_has_get_image (self)

def	_draw_vectors_from_frame (self, List[np.ndarray] vecs, List[int] frame_ids, List[str] vec_names, List[int] colors)

Private Attributes
	_node_background

	_node_default_cam

	_rot_cam_key

Detailed Description

A Pinocchio display using Meshcat

Definition at line 532 of file meshcat_visualizer.py.

Constructor & Destructor Documentation

◆ init()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.__init__	(	self,
		model = `pin.Model()`,
		collision_model = `None`,
		visual_model = `None`,
		copy_models = `False`,
		data = `None`,
		collision_data = `None`,
		visual_data = `None`
	)

Definition at line 554 of file meshcat_visualizer.py.

Member Function Documentation

◆ _check_meshcat_has_get_image()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer._check_meshcat_has_get_image ( self )

private

Definition at line 953 of file meshcat_visualizer.py.

◆ _draw_vectors_from_frame()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer._draw_vectors_from_frame	(		self,
		List[np.ndarray]	vecs,
		List[int]	frame_ids,
		List[str]	vec_names,
		List[int]	colors
	)

private

Draw vectors extending from given frames.

Definition at line 1043 of file meshcat_visualizer.py.

◆ addGeometryObject()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.addGeometryObject	(		self,
		pin.GeometryObject	obj,
			color = `None`
	)

Add a visual GeometryObject to the viewer, with an optional color.

Definition at line 948 of file meshcat_visualizer.py.

◆ captureImage()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.captureImage	(	self,
		w = `None`,
		h = `None`
	)

Capture an image from the Meshcat viewer and return an RGB array.

Definition at line 960 of file meshcat_visualizer.py.

◆ clean()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.clean ( self )

Definition at line 894 of file meshcat_visualizer.py.

◆ delete()

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

Definition at line 897 of file meshcat_visualizer.py.

◆ disableCameraControl()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.disableCameraControl ( self )

Definition at line 652 of file meshcat_visualizer.py.

◆ display()

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 901 of file meshcat_visualizer.py.

◆ displayCollisions()

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

Set whether to display collision objects or not.

Definition at line 970 of file meshcat_visualizer.py.

◆ displayFrames()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.displayFrames	(	self,
		visibility,
		frame_ids = `None`,
		axis_length = `0.2`,
		axis_width = `2`
	)

Set whether to display frames or not.

Definition at line 992 of file meshcat_visualizer.py.

◆ displayVisuals()

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

Set whether to display visual objects or not.

Definition at line 981 of file meshcat_visualizer.py.

◆ drawFrameVelocities()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.drawFrameVelocities	(		self,
		int	frame_id,
			v_scale = `0.2`,
			color = `FRAME_VEL_COLOR`
	)

Definition at line 1033 of file meshcat_visualizer.py.

◆ enableCameraControl()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.enableCameraControl ( self )

Definition at line 655 of file meshcat_visualizer.py.

◆ getViewerNodeName()

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 582 of file meshcat_visualizer.py.

◆ initializeFrames()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.initializeFrames	(	self,
		frame_ids = `None`,
		axis_length = `0.2`,
		axis_width = `2`
	)

Initializes the frame objects for display.

Definition at line 999 of file meshcat_visualizer.py.

◆ initViewer()

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

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 589 of file meshcat_visualizer.py.

◆ loadMeshFromFile()

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

Definition at line 732 of file meshcat_visualizer.py.

◆ loadPrimitive()

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

Definition at line 658 of file meshcat_visualizer.py.

◆ loadViewerGeometryObject()

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

Load a single geometry object

Definition at line 754 of file meshcat_visualizer.py.

◆ loadViewerModel()

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 847 of file meshcat_visualizer.py.

◆ reload()

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 879 of file meshcat_visualizer.py.

◆ reset()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.reset ( self )

Definition at line 617 of file meshcat_visualizer.py.

◆ setBackgroundColor()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.setBackgroundColor	(		self,
		str	preset_name = `"gray"`,
			col_top = `None`,
			col_bot = `None`
	)

Set the background.

Definition at line 621 of file meshcat_visualizer.py.

◆ setCameraPose()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.setCameraPose	(	self,
		pose
	)

Definition at line 649 of file meshcat_visualizer.py.

◆ setCameraPosition()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.setCameraPosition	(		self,
		np.ndarray	position
	)

Definition at line 635 of file meshcat_visualizer.py.

◆ setCameraPreset()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.setCameraPreset	(		self,
		str	preset_key
	)

Set the camera angle and position using a given preset.

Definition at line 638 of file meshcat_visualizer.py.

◆ setCameraTarget()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.setCameraTarget	(		self,
		np.ndarray	target
	)

Definition at line 632 of file meshcat_visualizer.py.

◆ setCameraZoom()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.setCameraZoom	(		self,
		float	zoom
	)

Definition at line 645 of file meshcat_visualizer.py.

◆ updateFrames()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.updateFrames ( self )

Updates the frame visualizations with the latest transforms from model data.

Definition at line 1023 of file meshcat_visualizer.py.

◆ updatePlacements()

def pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.updatePlacements	(	self,
		geometry_type
	)

Definition at line 915 of file meshcat_visualizer.py.

Member Data Documentation

◆ _node_background

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer._node_background

private

Definition at line 598 of file meshcat_visualizer.py.

◆ _node_default_cam

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer._node_default_cam

private

Definition at line 597 of file meshcat_visualizer.py.

◆ _rot_cam_key

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer._rot_cam_key

private

Definition at line 599 of file meshcat_visualizer.py.

◆ CAMERA_PRESETS

dictionary pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.CAMERA_PRESETS

static

Initial value:

=  {
        "preset0": [
            np.zeros(3),  # target
            [3.0, 0.0, 1.0],  # anchor point (x, z, -y) lhs coords
        ],
        "preset1": [np.zeros(3), [1.0, 1.0, 1.0]],
        "preset2": [[0.0, 0.0, 0.6], [0.8, 1.0, 1.2]],
        "acrobot": [[0.0, 0.1, 0.0], [0.5, 0.0, 0.2]],
        "cam_ur": [[0.4, 0.6, -0.2], [1.0, 0.4, 1.2]],
        "cam_ur2": [[0.4, 0.3, 0.0], [0.5, 0.1, 1.4]],
        "cam_ur3": [[0.4, 0.3, 0.0], [0.6, 1.3, 0.3]],
        "cam_ur4": [[-1.0, 0.3, 0.0], [1.3, 0.1, 1.2]],  # x>0 to x<0
        "cam_ur5": [[-1.0, 0.3, 0.0], [-0.05, 1.5, 1.2]],
        "talos": [[0.0, 1.2, 0.0], [1.5, 0.3, 1.5]],
        "talos2": [[0.0, 1.1, 0.0], [1.2, 0.6, 1.5]],
    }

Definition at line 537 of file meshcat_visualizer.py.

◆ display_collisions

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.display_collisions

Definition at line 973 of file meshcat_visualizer.py.

◆ display_frames

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.display_frames

Definition at line 994 of file meshcat_visualizer.py.

◆ display_visuals

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.display_visuals

Definition at line 984 of file meshcat_visualizer.py.

◆ FORCE_SCALE

float pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.FORCE_SCALE = 0.06

static

Definition at line 535 of file meshcat_visualizer.py.

◆ frame_ids

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.frame_ids

Definition at line 1004 of file meshcat_visualizer.py.

◆ FRAME_VEL_COLOR

int pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.FRAME_VEL_COLOR = 0x00FF00

static

Definition at line 536 of file meshcat_visualizer.py.

◆ static_objects

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.static_objects

Definition at line 571 of file meshcat_visualizer.py.

◆ viewer

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewer

Definition at line 595 of file meshcat_visualizer.py.

◆ viewerCollisionGroupName

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerCollisionGroupName

Definition at line 859 of file meshcat_visualizer.py.

◆ viewerFramesGroupName

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerFramesGroupName

Definition at line 876 of file meshcat_visualizer.py.

◆ viewerRootNodeName

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerRootNodeName

Definition at line 856 of file meshcat_visualizer.py.

◆ viewerVisualGroupName

pinocchio.visualize.meshcat_visualizer.MeshcatVisualizer.viewerVisualGroupName

Definition at line 869 of file meshcat_visualizer.py.

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

meshcat_visualizer.py

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ _check_meshcat_has_get_image()

◆ _draw_vectors_from_frame()

◆ addGeometryObject()

◆ captureImage()

◆ clean()

◆ delete()

◆ disableCameraControl()

◆ display()

◆ displayCollisions()

◆ displayFrames()

◆ displayVisuals()

◆ drawFrameVelocities()

◆ enableCameraControl()

◆ getViewerNodeName()

◆ initializeFrames()

◆ initViewer()

◆ loadMeshFromFile()

◆ loadPrimitive()

◆ loadViewerGeometryObject()

◆ loadViewerModel()

◆ reload()

◆ reset()

◆ setBackgroundColor()

◆ setCameraPose()

◆ setCameraPosition()

◆ setCameraPreset()

◆ setCameraTarget()

◆ setCameraZoom()

◆ updateFrames()

◆ updatePlacements()

Member Data Documentation

◆ _node_background

◆ _node_default_cam

◆ _rot_cam_key

◆ CAMERA_PRESETS

◆ display_collisions

◆ display_frames

◆ display_visuals

◆ FORCE_SCALE

◆ frame_ids

◆ FRAME_VEL_COLOR

◆ static_objects

◆ viewer

◆ viewerCollisionGroupName

◆ viewerFramesGroupName

◆ viewerRootNodeName

◆ viewerVisualGroupName

◆ init()