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

Required

• lengths: Length
• radii: Radius

Recommended

• translations: Translation3D
• colors: Color

Optional

• rotation_axis_angles: RotationAxisAngle
• quaternions: RotationQuat
• line_radii: Radius
• fill_mode: FillMode
• labels: Text
• show_labels: ShowLabels
• class_ids: ClassId

Can be shown in

• Spatial3DView
• Spatial2DView (if logged above active projection)
• DataframeView

API reference links

• 🌊 C++ API docs for Capsules3D
• 🐍 Python API docs for Capsules3D
• 🦀 Rust API docs for Capsules3D

Example

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