(self, node)
| 56 | self.add_node(node) |
| 57 | |
| 58 | def add_node(self, node): |
| 59 | # Using a dot here as a quick fix to _avoid_ Meshcat automatically |
| 60 | # transforming the parent coordinate system. If you use `"/"` then |
| 61 | # you would get that behaviour. |
| 62 | pathname = " | ".join([x.name for x in node.path]) |
| 63 | if node.geometry is not None: |
| 64 | # Transforming everything to global |
| 65 | self.add_geometry( |
| 66 | node.geometry, pathname, node.transformation_to(node.root) |
| 67 | ) |
| 68 | |
| 69 | def add_geometry(self, geometry, pathname, transform): |
| 70 | vis = self.vis |
no test coverage detected