wehub-resource-sync
52 lines
1.3 KiB
Python
52 lines
1.3 KiB
Python
"""Logs a simple transform hierarchy with named frames."""
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import rerun as rr
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rr.init("rerun_example_transform3d_hierarchy_named_frames", spawn=True)
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# Define entities with explicit coordinate frames.
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rr.log(
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"sun",
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rr.Ellipsoids3D(
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half_sizes=[1, 1, 1], colors=[255, 200, 10], fill_mode="solid"
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),
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rr.CoordinateFrame("sun_frame"),
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)
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rr.log(
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"planet",
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rr.Ellipsoids3D(
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half_sizes=[0.4, 0.4, 0.4], colors=[40, 80, 200], fill_mode="solid"
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),
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rr.CoordinateFrame("planet_frame"),
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)
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rr.log(
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"moon",
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rr.Ellipsoids3D(
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half_sizes=[0.15, 0.15, 0.15], colors=[180, 180, 180], fill_mode="solid"
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),
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rr.CoordinateFrame("moon_frame"),
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)
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# Define explicit frame relationships.
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rr.log(
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"planet_transform",
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rr.Transform3D(
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translation=[6.0, 0.0, 0.0],
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child_frame="planet_frame",
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parent_frame="sun_frame",
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),
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)
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rr.log(
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"moon_transform",
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rr.Transform3D(
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translation=[3.0, 0.0, 0.0],
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child_frame="moon_frame",
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parent_frame="planet_frame",
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),
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)
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# Connect the viewer to the sun's coordinate frame.
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# This is only needed in the absence of blueprints since a default view will
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# typically be created at `/`.
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rr.log("/", rr.CoordinateFrame("sun_frame"), static=True)
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