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.

Components components

Required: Length, Radius

Recommended: PoseTranslation3D, Color

Optional: PoseRotationAxisAngle, PoseRotationQuat, Text, ShowLabels, ClassId

Shown in 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(0, 5)
        ],
    ),
)