Loading URDF Files#
In this simple example, we will load an URDF file of the Mars Rover Perserverance into Vuer.
Vuer supports URDF files with mesh files in the following formats: .dae
, .stl
, .obj
, .ply
. For
details on the mesh file formats supported, refer to the Typescript source code.
from asyncio import sleep
from vuer import Vuer, VuerSession
from vuer.schemas import Urdf
app = Vuer()
@app.spawn(start=True)
async def main(proxy: VuerSession):
proxy.upsert @ Urdf(
src="https://docs.vuer.ai/en/latest/_static/perseverance/rover/m2020.urdf",
jointValues={},
rotation=[3.14 / 2, 0, 0],
position=[0, 0, -1.5],
key="perseverance",
)
proxy.upsert @ Urdf(
src="https://docs.vuer.ai/en/latest/_static/perseverance/mhs/MHS.urdf",
jointValues={},
rotation=[3.14 / 2, 0, 0],
position=[0, 0.28, 0.5],
key="mars-helicopter",
)
# keep the session alive.
while True:
await sleep(10)