.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "_auto_examples/visualizations/vis_tetrahedral_hand.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download__auto_examples_visualizations_vis_tetrahedral_hand.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr__auto_examples_visualizations_vis_tetrahedral_hand.py:


========================
Hand as tetrahedral mesh
========================

.. GENERATED FROM PYTHON SOURCE LINES 6-43

.. code-block:: default

    print(__doc__)

    import os
    from pytransform3d.urdf import UrdfTransformManager
    import pytransform3d.visualizer as pv
    from distance3d.hydroelastic_contact._broad_phase import HydroelasticBoundingVolumeHierarchy

    fig = pv.figure()

    BASE_DIR = "test/data/"
    data_dir = BASE_DIR
    search_path = ".."
    while (not os.path.exists(data_dir) and
           os.path.dirname(search_path) != "distance3d"):
        search_path = os.path.join(search_path, "..")
        data_dir = os.path.join(search_path, BASE_DIR)

    tm = UrdfTransformManager()
    filename = os.path.join(data_dir, "mia_hand.urdf")
    with open(filename, "r") as f:
        robot_urdf = f.read()
        tm.load_urdf(robot_urdf, mesh_path=data_dir)

    finger_angle = [1, 0.8, 0.5, 0.3, 0.2]
    joint_names = ["j_index_fle", "j_mrl_fle", "j_ring_fle", "j_little_fle", "j_thumb_fle"]

    for i, joint_name in enumerate(joint_names):
        tm.set_joint(joint_name, finger_angle[i])

    robot_bvh = HydroelasticBoundingVolumeHierarchy(tm, "mia_hand")
    robot_bvh.fill_tree_with_colliders(tm, make_artists=True)

    for artist in robot_bvh.get_artists():
        artist.add_artist(fig)

    fig.view_init()
    fig.show()


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.000 seconds)


.. _sphx_glr_download__auto_examples_visualizations_vis_tetrahedral_hand.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example


    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: vis_tetrahedral_hand.py <vis_tetrahedral_hand.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: vis_tetrahedral_hand.ipynb <vis_tetrahedral_hand.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_