parameters: (self, full_name, X_WB)
return_statement: return (patch_Wlist, colors)
docstring: Pulls out the view patch verts for the given body index after applying
          the appropriate transform, X_WB. X_WB needs to be a RigidTransform.
docstring_summary: Pulls out the view patch verts for the given body index after applying
          the appropriate transform, X_WB. X_WB needs to be a RigidTransform.
docstring_tokens: Pulls out the view patch verts for the given body index after applying the appropriate transform X_WB . X_WB needs to be a RigidTransform .
function: def _get_view_patches(self, full_name, X_WB):
          """
          Pulls out the view patch verts for the given body index after applying
          the appropriate transform, X_WB. X_WB needs to be a RigidTransform.
          """
          patch_Wlist = []
          for patch_B in self._patch_Blist[full_name]:
              patch_W = X_WB @ patch_B
              # Add homogeneous row.
              patch_W = np.vstack((patch_W, np.ones((1, patch_W.shape[1]))))
              patch_Wlist.append(patch_W)
  
          colors = self._patch_Blist_colors[full_name]
          return (patch_Wlist, colors)
function_tokens: def _get_view_patches ( self , full_name , X_WB ) : patch_Wlist = [ ] for patch_B in self . _patch_Blist [ full_name ] : patch_W = X_WB @ patch_B # Add homogeneous row. patch_W = np . vstack ( ( patch_W , np . ones ( ( 1 , patch_W . shape [ 1 ] ) ) ) ) patch_Wlist . append ( patch_W ) colors = self . _patch_Blist_colors [ full_name ] return ( patch_Wlist , colors )