0.2.6: update URDF helper + example docs

docs/source/examples/01_image.rst

@@ -21,6 +21,7 @@ NeRFs), or images to render as 3D textures.
 
         import imageio.v3 as iio
         import numpy as onp
+
         import viser
 
 

docs/source/examples/02_gui.rst

@@ -16,6 +16,7 @@ Examples of basic GUI elements that we can create, read from, and write to.
         import time
 
         import numpy as onp
+
         import viser
 
 

docs/source/examples/03_gui_callbacks.rst

@@ -17,9 +17,10 @@ we get updates.
         import time
 
         import numpy as onp
-        import viser
         from typing_extensions import assert_never
 
+        import viser
+
 
         def main() -> None:
             server = viser.ViserServer()

docs/source/examples/05_camera_commands.rst

@@ -17,6 +17,7 @@ corresponding client automatically.
         import time
 
         import numpy as onp
+
         import viser
         import viser.transforms as tf
 

docs/source/examples/06_mesh.rst

@@ -18,6 +18,7 @@ Visualize a mesh. To get the demo data, see ``./assets/download_dragon_mesh.sh``
 
         import numpy as onp
         import trimesh
+
         import viser
         import viser.transforms as tf
 

docs/source/examples/07_record3d_visualizer.rst

@@ -18,10 +18,11 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
 
         import numpy as onp
         import tyro
+        from tqdm.auto import tqdm
+
         import viser
         import viser.extras
         import viser.transforms as tf
-        from tqdm.auto import tqdm
 
 
         def main(

docs/source/examples/08_smpl_visualizer.rst

@@ -25,6 +25,7 @@ See here for download instructions:
         import numpy as np
         import numpy as onp
         import tyro
+
         import viser
         import viser.transforms as tf
 

docs/source/examples/09_urdf_visualizer.rst

@@ -25,9 +25,10 @@ and viser. It can also take a path to a local URDF file as input.
         import time
 
         import numpy as onp
-        import tyro
-        import viser
+        import yourdfpy
         from robot_descriptions.loaders.yourdfpy import load_robot_description
+
+        import viser
         from viser.extras import ViserUrdf
 
         # A subset of robots available in the robot_descriptions package.
@@ -52,38 +53,67 @@ and viser. It can also take a path to a local URDF file as input.
         )
 
 
-        def main() -> None:
-            # Start viser server.
-            server = viser.ViserServer()
-
-            # Logic for updating the visualized robot.
-            gui_joints: list[viser.GuiInputHandle[float]] = []
-            initial_angles: list[float] = []
-
-            def update_robot_model(robot_name: str) -> None:
-                server.scene.reset()
+        class ControllableViserRobot:
+            """Helper class that creates a robot + GUI elements for controlling it."""
 
+            def __init__(
+                self,
+                urdf: yourdfpy.URDF,
+                server: viser.ViserServer,
+            ):
                 loading_modal = server.gui.add_modal("Loading URDF...")
                 with loading_modal:
                     server.gui.add_markdown("See terminal for progress!")
 
                 # Create a helper for adding URDFs to Viser. This just adds meshes to the scene,
                 # helps us set the joint angles, etc.
-                urdf = ViserUrdf(
+                self._viser_urdf = ViserUrdf(
                     server,
                     # This can also be set to a path to a local URDF file.
-                    urdf_or_path=load_robot_description(robot_name),
+                    urdf_or_path=urdf,
                 )
                 loading_modal.close()
 
-                for gui_joint in gui_joints:
-                    gui_joint.remove()
-                gui_joints.clear()
+                # Create sliders in GUI to control robot.
+                (
+                    self._slider_handles,
+                    self._initial_angles,
+                ) = self._create_gui_elements(server, self._viser_urdf)
+
+                self.update_cfg(onp.array([slider.value for slider in self._slider_handles]))
+
+            def update_cfg(self, configuration: onp.ndarray) -> None:
+                """Update the configuration, both the GUI handles and the visualized
+                robot."""
+                assert len(configuration) == len(self._slider_handles)
+                for i, slider in enumerate(self._slider_handles):
+                    slider.value = configuration[i]
+                # self._viser_urdf.update_cfg(configuration)
+
+            def reset_joints(self) -> None:
+                """Reset all of the joints."""
+                for g, initial_angle in zip(self._slider_handles, self._initial_angles):
+                    g.value = initial_angle
 
-                for joint_name, (lower, upper) in urdf.get_actuated_joint_limits().items():
+            def remove(self) -> None:
+                """Remove the URDF and all GUI elements."""
+                self._viser_urdf.remove()
+                for slider in self._slider_handles:
+                    slider.remove()
+
+            @staticmethod
+            def _create_gui_elements(
+                server: viser.ViserServer, viser_urdf: ViserUrdf
+            ) -> tuple[list[viser.GuiInputHandle[float]], list[float]]:
+                """Crfeate slider for each joint of the robot."""
+                slider_handles: list[viser.GuiInputHandle[float]] = []
+                initial_angles: list[float] = []
+                for joint_name, (
+                    lower,
+                    upper,
+                ) in viser_urdf.get_actuated_joint_limits().items():
                     lower = lower if lower is not None else -onp.pi
                     upper = upper if upper is not None else onp.pi
-
                     initial_angle = 0.0 if lower < 0 and upper > 0 else (lower + upper) / 2.0
                     slider = server.gui.add_slider(
                         label=joint_name,
@@ -93,29 +123,45 @@ and viser. It can also take a path to a local URDF file as input.
                         initial_value=initial_angle,
                     )
                     slider.on_update(  # When sliders move, we update the URDF configuration.
-                        lambda _: urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
+                        lambda _: viser_urdf.update_cfg(
+                            onp.array([slider.value for slider in slider_handles])
+                        )
                     )
-
-                    gui_joints.append(slider)
+                    slider_handles.append(slider)
                     initial_angles.append(initial_angle)
+                return slider_handles, initial_angles
 
-                # Apply initial joint angles.
-                urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
 
+        def main() -> None:
+            # Start viser server.
+            server = viser.ViserServer()
+
+            # We use a dropdown to select the robot.
             robot_model_name = server.gui.add_dropdown("Robot model", ROBOT_MODEL_LIST)
-            robot_model_name.on_update(lambda _: update_robot_model(robot_model_name.value))
+            robot = ControllableViserRobot(
+                load_robot_description(robot_model_name.value), server
+            )
+
+            # Remove the old robot and add a new one whenever the dropdown changes.
+            @robot_model_name.on_update
+            def _(_) -> None:
+                nonlocal robot
+                robot.remove()
+                robot = ControllableViserRobot(
+                    load_robot_description(robot_model_name.value), server
+                )
 
             # Create joint reset button.
             reset_button = server.gui.add_button("Reset")
 
             @reset_button.on_click
             def _(_):
-                for g, initial_angle in zip(gui_joints, initial_angles):
-                    g.value = initial_angle
+                robot.reset_joints()
 
+            # Sleep forever.
             while True:
                 time.sleep(10.0)
 
 
         if __name__ == "__main__":
-            tyro.cli(main)
+            main()

docs/source/examples/10_realsense.rst

@@ -21,9 +21,10 @@ pyrealsense2.
         import numpy as np
         import numpy.typing as npt
         import pyrealsense2 as rs  # type: ignore
-        import viser
         from tqdm.auto import tqdm
 
+        import viser
+
 
         @contextlib.contextmanager
         def realsense_pipeline(fps: int = 30):

docs/source/examples/11_colmap_visualizer.rst

@@ -20,9 +20,10 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets
         import imageio.v3 as iio
         import numpy as onp
         import tyro
+        from tqdm.auto import tqdm
+
         import viser
         import viser.transforms as tf
-        from tqdm.auto import tqdm
         from viser.extras.colmap import (
             read_cameras_binary,
             read_images_binary,

docs/source/examples/12_click_meshes.rst

@@ -16,6 +16,7 @@ Click on meshes to select them. The index of the last clicked mesh is displayed
         import time
 
         import matplotlib
+
         import viser
 
 

docs/source/examples/14_markdown.rst

@@ -1,7 +1,7 @@
 .. Comment: this file is automatically generated by `update_example_docs.py`.
    It should not be modified manually.
 
-Markdown Demonstration
+Markdown demonstration
 ==========================================
 
 

docs/source/examples/15_gui_in_scene.rst

@@ -1,7 +1,7 @@
 .. Comment: this file is automatically generated by `update_example_docs.py`.
    It should not be modified manually.
 
-3D GUI Elements
+3D GUI elements
 ==========================================
 
 
@@ -19,6 +19,7 @@ performed on them.
         from typing import Optional
 
         import numpy as onp
+
         import viser
         import viser.transforms as tf
 

docs/source/examples/17_background_composite.rst

@@ -19,6 +19,7 @@ be useful when we want a 2D image to occlude 3D geometry, such as for NeRF rende
         import numpy as onp
         import trimesh
         import trimesh.creation
+
         import viser
 
         server = viser.ViserServer()

docs/source/examples/18_splines.rst

@@ -16,6 +16,7 @@ Make a ball with some random splines.
         import time
 
         import numpy as onp
+
         import viser
 
 

docs/source/examples/19_get_renders.rst

@@ -1,7 +1,7 @@
 .. Comment: this file is automatically generated by `update_example_docs.py`.
    It should not be modified manually.
 
-Get Renders
+Get renders
 ==========================================
 
 
@@ -17,6 +17,7 @@ Example for getting renders from a client's viewport to the Python API.
 
         import imageio.v3 as iio
         import numpy as onp
+
         import viser
 
 

docs/source/examples/20_scene_pointer.rst

@@ -26,6 +26,7 @@ To get the demo data, see ``./assets/download_dragon_mesh.sh``.
         import trimesh
         import trimesh.creation
         import trimesh.ray
+
         import viser
         import viser.transforms as tf
         from viser.theme import TitlebarConfig
@@ -81,7 +82,7 @@ To get the demo data, see ``./assets/download_dragon_mesh.sh``.
                     client.scene.remove_pointer_callback()
 
                     # Get the first hit position (based on distance from the ray origin).
-                    hit_pos = min(hit_pos, key=lambda x: onp.linalg.norm(x - origin))
+                    hit_pos = hit_pos[onp.argmin(onp.sum((hit_pos - origin) ** 2, axis=-1))]
 
                     # Create a sphere at the hit location.
                     hit_pos_mesh = trimesh.creation.icosphere(radius=0.1)

docs/source/examples/21_set_up_direction.rst

@@ -1,7 +1,7 @@
 .. Comment: this file is automatically generated by `update_example_docs.py`.
    It should not be modified manually.
 
-Set Up Direction
+Set up direction
 ==========================================
 
 

docs/source/examples/22_games.rst

@@ -18,9 +18,10 @@ Some two-player games implemented using scene click events.
 
         import numpy as onp
         import trimesh.creation
+        from typing_extensions import assert_never
+
         import viser
         import viser.transforms as tf
-        from typing_extensions import assert_never
 
 
         def main() -> None:

docs/source/examples/23_plotly.rst

@@ -1,7 +1,7 @@
 .. Comment: this file is automatically generated by `update_example_docs.py`.
    It should not be modified manually.
 
-Plotly.
+Plotly
 ==========================================
 
 
@@ -18,9 +18,10 @@ Examples of visualizing plotly plots in Viser.
         import numpy as onp
         import plotly.express as px
         import plotly.graph_objects as go
-        import viser
         from PIL import Image
 
+        import viser
+
 
         def create_sinusoidal_wave(t: float) -> go.Figure:
             """Create a sinusoidal wave plot, starting at time t."""