URDF (Serving Locally)#

import math
from asyncio import sleep
from pathlib import Path

from vuer import Vuer, VuerSession
from vuer.schemas import DefaultScene, Urdf, Movable

pi = 3.1415

app = Vuer(static_root=Path(__file__).parent / "../../assets")


@app.spawn(start=True)
async def main(sess: VuerSession):
    sess.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 * pi,
                    "RL_thigh_joint": -0.25 * pi,
                    "FR_thigh_joint": -1.3,
                    "RR_thigh_joint": -0.25 * pi,
                    "FL_calf_joint": 0.5 * pi,
                    "RL_calf_joint": 0.5 * pi,
                    "FR_calf_joint": 0.6 * pi,
                    "RR_calf_joint": 0.5 * pi,
                },
                key="robot",
            ),
            position=[0, 0, 0.3],
            scale=0.4,
        ),
        grid=True,
    )

    await sleep(0.1)

    i = 0
    while True:
        sess.update @ 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 * pi,
                "RL_thigh_joint": -0.25 * pi,
                "FR_thigh_joint": 0.5 * math.sin(i * 0.1) - 1.3,
                "RR_thigh_joint": -0.25 * pi,
                "FL_calf_joint": 0.5 * pi,
                "RL_calf_joint": 0.5 * pi,
                "FR_calf_joint": -0.5 * math.sin(i * 0.1) + 0.6 * pi,
                "RR_calf_joint": 0.5 * pi,
            },
            key="robot",
        )
        await sleep(0.016)
        i += 1