Functions | |
def | my_callback (i, *args) |
def | sim_loop () |
Variables | |
callback | |
collision_model | |
convex = mesh.convex | |
data = viz.data | |
float | dt = 0.01 |
fid2 = model.getFrameId("FL_FOOT") | |
frame_id = model.getFrameId("HR_FOOT") | |
geometry = pin.GeometryObject("convex", 0, placement, convex) | |
mesh = visual_model.geometryObjects[0].geometry | |
mesh_dir = pinocchio_model_dir | |
meshColor | |
meshEmissionColor | |
meshMaterial | |
meshShininess | |
meshSpecularColor | |
model | |
model_path = join(pinocchio_model_dir, "example-robot-data/robots") | |
open | |
overrideMaterial | |
pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") | |
placement = pin.SE3.Identity() | |
q = q0.copy() | |
q0 = pin.neutral(model) | |
q1 | |
qs | |
rootNodeName | |
string | urdf_filename = "solo.urdf" |
urdf_model_path = join(join(model_path, "solo_description/robots"), urdf_filename) | |
int | v0 = np.random.randn(model.nv) * 2 |
visual_model | |
viz = MeshcatVisualizer(model, collision_model, visual_model) | |
viz2 = MeshcatVisualizer(model, collision_model, visual_model) | |
def meshcat-viewer.my_callback | ( | i, | |
* | args | ||
) |
Definition at line 121 of file meshcat-viewer.py.
def meshcat-viewer.sim_loop | ( | ) |
Definition at line 98 of file meshcat-viewer.py.
meshcat-viewer.callback |
Definition at line 127 of file meshcat-viewer.py.
meshcat-viewer.collision_model |
Definition at line 24 of file meshcat-viewer.py.
meshcat-viewer.convex = mesh.convex |
Definition at line 55 of file meshcat-viewer.py.
meshcat-viewer.data = viz.data |
Definition at line 88 of file meshcat-viewer.py.
meshcat-viewer.dt = 0.01 |
Definition at line 95 of file meshcat-viewer.py.
meshcat-viewer.fid2 = model.getFrameId("FL_FOOT") |
Definition at line 118 of file meshcat-viewer.py.
meshcat-viewer.frame_id = model.getFrameId("HR_FOOT") |
Definition at line 90 of file meshcat-viewer.py.
meshcat-viewer.geometry = pin.GeometryObject("convex", 0, placement, convex) |
Definition at line 61 of file meshcat-viewer.py.
meshcat-viewer.mesh = visual_model.geometryObjects[0].geometry |
Definition at line 53 of file meshcat-viewer.py.
meshcat-viewer.mesh_dir = pinocchio_model_dir |
Definition at line 18 of file meshcat-viewer.py.
meshcat-viewer.meshColor |
Definition at line 62 of file meshcat-viewer.py.
meshcat-viewer.meshEmissionColor |
Definition at line 66 of file meshcat-viewer.py.
meshcat-viewer.meshMaterial |
Definition at line 65 of file meshcat-viewer.py.
meshcat-viewer.meshShininess |
Definition at line 68 of file meshcat-viewer.py.
meshcat-viewer.meshSpecularColor |
Definition at line 67 of file meshcat-viewer.py.
meshcat-viewer.model |
Definition at line 24 of file meshcat-viewer.py.
meshcat-viewer.model_path = join(pinocchio_model_dir, "example-robot-data/robots") |
Definition at line 17 of file meshcat-viewer.py.
meshcat-viewer.open |
Definition at line 36 of file meshcat-viewer.py.
meshcat-viewer.overrideMaterial |
Definition at line 64 of file meshcat-viewer.py.
meshcat-viewer.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") |
Definition at line 15 of file meshcat-viewer.py.
meshcat-viewer.placement = pin.SE3.Identity() |
Definition at line 59 of file meshcat-viewer.py.
meshcat-viewer.q = q0.copy() |
Definition at line 78 of file meshcat-viewer.py.
meshcat-viewer.q0 = pin.neutral(model) |
Definition at line 48 of file meshcat-viewer.py.
meshcat-viewer.q1 |
Definition at line 83 of file meshcat-viewer.py.
meshcat-viewer.qs |
Definition at line 127 of file meshcat-viewer.py.
meshcat-viewer.rootNodeName |
Definition at line 77 of file meshcat-viewer.py.
string meshcat-viewer.urdf_filename = "solo.urdf" |
Definition at line 21 of file meshcat-viewer.py.
meshcat-viewer.urdf_model_path = join(join(model_path, "solo_description/robots"), urdf_filename) |
Definition at line 22 of file meshcat-viewer.py.
int meshcat-viewer.v0 = np.random.randn(model.nv) * 2 |
Definition at line 87 of file meshcat-viewer.py.
meshcat-viewer.visual_model |
Definition at line 24 of file meshcat-viewer.py.
meshcat-viewer.viz = MeshcatVisualizer(model, collision_model, visual_model) |
Definition at line 35 of file meshcat-viewer.py.
meshcat-viewer.viz2 = MeshcatVisualizer(model, collision_model, visual_model) |
Definition at line 75 of file meshcat-viewer.py.