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, placement, convex)
	mesh = visual_model.geometryObjects[0].geometry
string	mesh_dir = pinocchio_model_dir
	meshColor
	meshEmissionColor
	meshMaterial
	meshShininess
	meshSpecularColor
	model
string	model_path = pinocchio_model_dir / "example-robot-data/robots"
	open
	overrideMaterial
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
	placement = pin.SE3.Identity()
	q = q0.copy()
	q0 = pin.neutral(model)
	q1
	qs
	rootNodeName
string	urdf_filename = "solo.urdf"
string	urdf_model_path = 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 122 of file meshcat-viewer.py.

sim_loop()

def meshcat-viewer.sim_loop

(

)

Definition at line 99 of file meshcat-viewer.py.

Variable Documentation

callback

meshcat-viewer.callback

Definition at line 128 of file meshcat-viewer.py.

collision_model

meshcat-viewer.collision_model

Definition at line 23 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 89 of file meshcat-viewer.py.

dt

meshcat-viewer.dt = 0.01

Definition at line 96 of file meshcat-viewer.py.

fid2

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

Definition at line 119 of file meshcat-viewer.py.

frame_id

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

Definition at line 91 of file meshcat-viewer.py.

geometry

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

Definition at line 62 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

string meshcat-viewer.mesh_dir = pinocchio_model_dir

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

meshColor

meshcat-viewer.meshColor

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

meshEmissionColor

meshcat-viewer.meshEmissionColor

Definition at line 67 of file meshcat-viewer.py.

meshMaterial

meshcat-viewer.meshMaterial

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

meshShininess

meshcat-viewer.meshShininess

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

meshSpecularColor

meshcat-viewer.meshSpecularColor

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

model

meshcat-viewer.model

Definition at line 23 of file meshcat-viewer.py.

model_path

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

Definition at line 16 of file meshcat-viewer.py.

open

meshcat-viewer.open

Definition at line 36 of file meshcat-viewer.py.

overrideMaterial

meshcat-viewer.overrideMaterial

Definition at line 65 of file meshcat-viewer.py.

pinocchio_model_dir

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

Definition at line 14 of file meshcat-viewer.py.

placement

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

Definition at line 60 of file meshcat-viewer.py.

q

meshcat-viewer.q = q0.copy()

Definition at line 79 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:

=  np.array(
    [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]
)

Definition at line 84 of file meshcat-viewer.py.

qs

meshcat-viewer.qs

Definition at line 128 of file meshcat-viewer.py.

rootNodeName

meshcat-viewer.rootNodeName

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

urdf_filename

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

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

urdf_model_path

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

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

v0

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

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

visual_model

meshcat-viewer.visual_model

Definition at line 23 of file meshcat-viewer.py.

viz

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

Definition at line 35 of file meshcat-viewer.py.

viz2

meshcat-viewer.viz2 = MeshcatVisualizer(model, collision_model, visual_model)

Definition at line 76 of file meshcat-viewer.py.