meshcat-viewer-solo Namespace Reference

Functions
def	ground (xy)
def	vizGround (viz, elevation_fn, space, name="ground", color=[1.0, 1.0, 0.6, 0.8])

Variables
	collision_model
	color
list	colorrgb = [128, 149, 255, 200]
string	mesh_dir = pinocchio_model_dir
	model
string	model_path = pinocchio_model_dir / "example-robot-data/robots"
	open
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
	q_ref
string	urdf_filename = "solo12.urdf"
string	urdf_model_path = model_path / "solo_description/robots" / urdf_filename
	visual_model
	vizer = MeshcatVisualizer(model, collision_model, visual_model)

Function Documentation

ground()

def meshcat-viewer-solo.ground

(

xy

)

Definition at line 55 of file meshcat-viewer-solo.py.

vizGround()

def meshcat-viewer-solo.vizGround	(		viz,
			elevation_fn,
			space,
			name = "ground",
			color = [1.0, 1.0, 0.6, 0.8]
	)

Definition at line 63 of file meshcat-viewer-solo.py.

Variable Documentation

collision_model

meshcat-viewer-solo.collision_model

Definition at line 22 of file meshcat-viewer-solo.py.

color

meshcat-viewer-solo.color

Definition at line 88 of file meshcat-viewer-solo.py.

colorrgb

float meshcat-viewer-solo.colorrgb = [128, 149, 255, 200]

Definition at line 86 of file meshcat-viewer-solo.py.

mesh_dir

string meshcat-viewer-solo.mesh_dir = pinocchio_model_dir

Definition at line 18 of file meshcat-viewer-solo.py.

model

meshcat-viewer-solo.model

Definition at line 22 of file meshcat-viewer-solo.py.

model_path

string meshcat-viewer-solo.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 17 of file meshcat-viewer-solo.py.

open

meshcat-viewer-solo.open

Definition at line 52 of file meshcat-viewer-solo.py.

pinocchio_model_dir

string meshcat-viewer-solo.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 15 of file meshcat-viewer-solo.py.

q_ref

meshcat-viewer-solo.q_ref

Initial value:

=  np.array(
    [
        [0.09906518],
        [0.20099078],
        [0.32502457],
        [0.19414175],
        [-0.00524735],
        [-0.97855773],
        [0.06860185],
        [0.00968163],
        [0.60963582],
        [-1.61206407],
        [-0.02543309],
        [0.66709088],
        [-1.50870083],
        [0.32405118],
        [-1.15305599],
        [1.56867351],
        [-0.39097222],
        [-1.29675892],
        [1.39741073],
    ]
)

Definition at line 26 of file meshcat-viewer-solo.py.

urdf_filename

string meshcat-viewer-solo.urdf_filename = "solo12.urdf"

Definition at line 19 of file meshcat-viewer-solo.py.

urdf_model_path

string meshcat-viewer-solo.urdf_model_path = model_path / "solo_description/robots" / urdf_filename

Definition at line 20 of file meshcat-viewer-solo.py.

visual_model

meshcat-viewer-solo.visual_model

Definition at line 22 of file meshcat-viewer-solo.py.

vizer

meshcat-viewer-solo.vizer = MeshcatVisualizer(model, collision_model, visual_model)

Definition at line 51 of file meshcat-viewer-solo.py.