Functions | Variables
meshcat-viewer Namespace Reference

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, convex, placement)
 
 mesh = visual_model.geometryObjects[0].geometry
 
 mesh_dir = pinocchio_model_dir
 
 meshColor
 
 model
 
 model_path = join(pinocchio_model_dir, "example-robot-data/robots")
 
 open
 
 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)
 

Function Documentation

◆ my_callback()

def meshcat-viewer.my_callback (   i,
  args 
)

Definition at line 112 of file meshcat-viewer.py.

◆ sim_loop()

def meshcat-viewer.sim_loop ( )

Definition at line 89 of file meshcat-viewer.py.

Variable Documentation

◆ callback

meshcat-viewer.callback

Definition at line 118 of file meshcat-viewer.py.

◆ collision_model

meshcat-viewer.collision_model

Definition at line 24 of file meshcat-viewer.py.

◆ convex

meshcat-viewer.convex = mesh.convex

Definition at line 56 of file meshcat-viewer.py.

◆ data

meshcat-viewer.data = viz.data

Definition at line 79 of file meshcat-viewer.py.

◆ dt

meshcat-viewer.dt = 0.01

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

◆ fid2

meshcat-viewer.fid2 = model.getFrameId("FL_FOOT")

Definition at line 109 of file meshcat-viewer.py.

◆ frame_id

meshcat-viewer.frame_id = model.getFrameId("HR_FOOT")

Definition at line 81 of file meshcat-viewer.py.

◆ geometry

meshcat-viewer.geometry = pin.GeometryObject("convex", 0, convex, placement)

Definition at line 61 of file meshcat-viewer.py.

◆ mesh

meshcat-viewer.mesh = visual_model.geometryObjects[0].geometry

Definition at line 54 of file meshcat-viewer.py.

◆ mesh_dir

meshcat-viewer.mesh_dir = pinocchio_model_dir

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

◆ meshColor

meshcat-viewer.meshColor

Definition at line 62 of file meshcat-viewer.py.

◆ model

meshcat-viewer.model

Definition at line 24 of file meshcat-viewer.py.

◆ model_path

meshcat-viewer.model_path = join(pinocchio_model_dir, "example-robot-data/robots")

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

◆ open

meshcat-viewer.open

Definition at line 37 of file meshcat-viewer.py.

◆ pinocchio_model_dir

meshcat-viewer.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

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

◆ placement

meshcat-viewer.placement = pin.SE3.Identity()

Definition at line 59 of file meshcat-viewer.py.

◆ q

meshcat-viewer.q = q0.copy()

Definition at line 69 of file meshcat-viewer.py.

◆ q0

meshcat-viewer.q0 = pin.neutral(model)

Definition at line 49 of file meshcat-viewer.py.

◆ q1

meshcat-viewer.q1
Initial value:
1 = np.array(
2  [0.0, 0.0, 0.235, 0.0, 0.0, 0.0, 1.0, 0.8, -1.6, 0.8, -1.6, -0.8, 1.6, -0.8, 1.6]
3 )

Definition at line 74 of file meshcat-viewer.py.

◆ qs

meshcat-viewer.qs

Definition at line 118 of file meshcat-viewer.py.

◆ rootNodeName

meshcat-viewer.rootNodeName

Definition at line 68 of file meshcat-viewer.py.

◆ urdf_filename

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

Definition at line 21 of file meshcat-viewer.py.

◆ urdf_model_path

meshcat-viewer.urdf_model_path = join(join(model_path, "solo_description/robots"), urdf_filename)

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

◆ v0

int meshcat-viewer.v0 = np.random.randn(model.nv) * 2

Definition at line 78 of file meshcat-viewer.py.

◆ visual_model

meshcat-viewer.visual_model

Definition at line 24 of file meshcat-viewer.py.

◆ viz

Definition at line 28 of file meshcat-viewer.py.

◆ viz2

Definition at line 66 of file meshcat-viewer.py.



pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:34