Capsules3D

3D capsules; cylinders with hemispherical caps.

Capsules are defined by two endpoints (the centers of their end cap spheres), which are located at (0, 0, 0) and (0, 0, length), that is, extending along the positive direction of the Z axis. Capsules in other orientations may be produced by applying a rotation to the entity or instances.

If there's more instance poses than lengths & radii, the last capsule's orientation will be repeated for the remaining poses. Orienting and placing capsules forms a separate transform that is applied prior to archetypes.InstancePoses3D and archetypes.Transform3D.

Fields fields

Required required

lengths: Length
radii: Radius

Recommended recommended

translations: PoseTranslation3D
colors: Color

Optional optional

rotation_axis_angles: PoseRotationAxisAngle
quaternions: PoseRotationQuat
labels: Text
show_labels: ShowLabels
class_ids: ClassId

Can be shown in can-be-shown-in

Spatial3DView
Spatial2DView (if logged above active projection)
DataframeView

API reference links api-reference-links

Example example

Batch of capsules batch-of-capsules

"""Log a batch of capsules."""

import rerun as rr

rr.init("rerun_example_capsule3d_batch", spawn=True)

rr.log(
    "capsules",
    rr.Capsules3D(
        lengths=[0.0, 2.0, 4.0, 6.0, 8.0],
        radii=[1.0, 0.5, 0.5, 0.5, 1.0],
        colors=[
            (255, 0, 0),
            (188, 188, 0),
            (0, 255, 0),
            (0, 188, 188),
            (0, 0, 255),
        ],
        translations=[
            (0.0, 0.0, 0.0),
            (2.0, 0.0, 0.0),
            (4.0, 0.0, 0.0),
            (6.0, 0.0, 0.0),
            (8.0, 0.0, 0.0),
        ],
        rotation_axis_angles=[
            rr.RotationAxisAngle(
                [1.0, 0.0, 0.0],
                rr.Angle(deg=float(i) * -22.5),
            )
            for i in range(5)
        ],
    ),
)

View

Rerun