Module visual_objects
Different types of visualisation markers for the simulation.
- class trifinger_simulation.visual_objects.CubeMarker(width, position, orientation, color=(0, 1, 0, 0.5), pybullet_client_id=0)[source]
Visualize a cube.
Create a cube marker for visualization
- Parameters:
width (float) – Length of one side of the cube.
position – Position (x, y, z)
orientation – Orientation as quaternion (x, y, z, w)
color – Color of the cube as a tuple (r, b, g, a)
- set_state(position, orientation)
Set pose of the marker.
- Parameters:
position – Position (x, y, z)
orientation – Orientation as quaternion (x, y, z, w)
- class trifinger_simulation.visual_objects.CuboidMarker(size, position, orientation, color=(0, 1, 0, 0.5), pybullet_client_id=0)[source]
Visualize a Cuboid.
Create a cube marker for visualization
- Parameters:
size (list) – Lengths of the cuboid sides.
position – Position (x, y, z)
orientation – Orientation as quaternion (x, y, z, w)
color – Color of the cube as a tuple (r, b, g, a)
- set_state(position, orientation)
Set pose of the marker.
- Parameters:
position – Position (x, y, z)
orientation – Orientation as quaternion (x, y, z, w)
- class trifinger_simulation.visual_objects.Marker(number_of_goals, goal_size=0.015, initial_position=[0.18, 0.18, 0.08], **kwargs)[source]
Visualise multiple positions using spheres.
Import a marker for visualization
- Parameters:
number_of_goals (int) – the desired number of goals to display
goal_size (float) – how big should this goal be
initial_position (list of floats) – where in xyz space should the goal first be displayed