"""
Setup: Run the following in the terminal
```shell
cd examples/vuer/assets/robots
make
```
"""
from asyncio import sleep
from pathlib import Path
import numpy as np
import trimesh
from vuer import Vuer
from vuer.events import Set
from vuer.schemas import Obj, DefaultScene, Urdf, Movable
if __name__ == "__main__":
assets_folder = Path(__file__).parent / "../../assets"
test_file = "static_3d/armadillo_midres.obj"
mesh = trimesh.load_mesh(assets_folder / test_file)
assert isinstance(mesh, trimesh.Trimesh)
mesh.apply_scale(0.1)
# from trimesh import util
with open(assets_folder / test_file, "rb") as f:
data = f.read()
text = trimesh.util.decode_text(data)
app = Vuer(static_root=assets_folder)
@app.spawn
async def main(ws):
app @ Set(
DefaultScene(
Movable(
Urdf(
src="http://localhost:8012/static/robots/mini_cheetah/mini_cheetah.urdf",
jointValues={
"FL_hip_joint": -0.2,
"RL_hip_joint": -0.2,
"FR_hip_joint": 0.2,
"RR_hip_joint": 0.2,
"FL_thigh_joint": -0.25 * np.pi,
"RL_thigh_joint": -0.25 * np.pi,
"FR_thigh_joint": -1.3,
"RR_thigh_joint": -0.25 * np.pi,
"FL_calf_joint": 0.5 * np.pi,
"RL_calf_joint": 0.5 * np.pi,
"FR_calf_joint": 0.6 * np.pi,
"RR_calf_joint": 0.5 * np.pi,
},
position=[0, 0.3, 0],
rotation=[-np.pi / 2, 0, -np.pi / 2],
),
),
),
)
i = 0
while True:
i += 1
await sleep(16)
app.run()