Visualisation

Visualizer

class figaroh.visualisation.visualizer.MeshcatVisualizer(robot=None, model=None, collision_model=None, visual_model=None, url=None)[source]

Bases: MeshcatVisualizer

Extension of Pinocchio MeshcatVisualizer with additional features.

addBox(name, dims, color)[source]

addCylinder(name, length, radius, color=None)[source]

addSphere(name, radius, color)[source]

applyConfiguration(name, placement)[source]

delete(name)[source]

figaroh.visualisation.visualizer.materialFromColor(color)[source]

Convert color to Material.

Parameters:: color – Color specification (Material, string, list, or None)
Returns:: Material object
Return type:: meshcat.geometry.Material