Merge branch 'main' of github.com:brentyi/viser into brent/splatting

nerfstudio-project · Jun 6, 2024 · 80d6c45 · 80d6c45
2 parents 7cea4ee + 4b4e354
commit 80d6c45
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diff --git a/docs/source/examples/09_urdf_visualizer.rst b/docs/source/examples/09_urdf_visualizer.rst
@@ -23,14 +23,34 @@ and viser. It can also take a path to a local URDF file as input.
         from __future__ import annotations
 
         import time
-        from pathlib import Path
 
         import numpy as onp
         import tyro
         import viser
         from robot_descriptions.loaders.yourdfpy import load_robot_description
         from viser.extras import ViserUrdf
 
+        # A subset of robots available in the robot_descriptions package.
+        ROBOT_MODEL_LIST = (
+            "panda_description",
+            "ur10_description",
+            "ur3_description",
+            "ur5_description",
+            "cassie_description",
+            "skydio_x2_description",
+            "allegro_hand_description",
+            "barrett_hand_description",
+            "robotiq_2f85_description",
+            "atlas_drc_description",
+            "atlas_v4_description",
+            "draco3_description",
+            "g1_description",
+            "h1_description",
+            "anymal_c_description",
+            "go2_description",
+            "mini_cheetah_description",
+        )
+
 
         def main() -> None:
             # Start viser server.
@@ -97,64 +117,5 @@ and viser. It can also take a path to a local URDF file as input.
                 time.sleep(10.0)
 
 
-        ROBOT_MODEL_LIST = (
-            "edo_description",
-            "fanuc_m710ic_description",
-            "gen2_description",
-            "gen3_description",
-            "iiwa14_description",
-            "iiwa7_description",
-            "panda_description",
-            "poppy_ergo_jr_description",
-            "ur10_description",
-            "ur3_description",
-            "ur5_description",
-            "z1_description",
-            "bolt_description",
-            "cassie_description",
-            "rhea_description",
-            "spryped_description",
-            "upkie_description",
-            "baxter_description",
-            "nextage_description",
-            "poppy_torso_description",
-            "yumi_description",
-            "cf2_description",
-            "skydio_x2_description",
-            "double_pendulum_description",
-            "finger_edu_description",
-            "simple_humanoid_description",
-            "trifinger_edu_description",
-            "allegro_hand_description",
-            "barrett_hand_description",
-            "robotiq_2f85_description",
-            "atlas_drc_description",
-            "atlas_v4_description",
-            "draco3_description",
-            "ergocub_description",
-            "g1_description",
-            "h1_description",
-            "icub_description",
-            "jaxon_description",
-            "jvrc_description",
-            "r2_description",
-            "romeo_description",
-            "sigmaban_description",
-            "talos_description",
-            "valkyrie_description",
-            "a1_description",
-            "aliengo_description",
-            "anymal_b_description",
-            "anymal_c_description",
-            "b1_description",
-            "go1_description",
-            "go2_description",
-            "hyq_description",
-            "laikago_description",
-            "mini_cheetah_description",
-            "minitaur_description",
-            "solo_description",
-        )
-
         if __name__ == "__main__":
             tyro.cli(main)
diff --git a/examples/09_urdf_visualizer.py b/examples/09_urdf_visualizer.py
@@ -11,14 +11,34 @@
 from __future__ import annotations
 
 import time
-from pathlib import Path
 
 import numpy as onp
 import tyro
 import viser
 from robot_descriptions.loaders.yourdfpy import load_robot_description
 from viser.extras import ViserUrdf
 
+# A subset of robots available in the robot_descriptions package.
+ROBOT_MODEL_LIST = (
+    "panda_description",
+    "ur10_description",
+    "ur3_description",
+    "ur5_description",
+    "cassie_description",
+    "skydio_x2_description",
+    "allegro_hand_description",
+    "barrett_hand_description",
+    "robotiq_2f85_description",
+    "atlas_drc_description",
+    "atlas_v4_description",
+    "draco3_description",
+    "g1_description",
+    "h1_description",
+    "anymal_c_description",
+    "go2_description",
+    "mini_cheetah_description",
+)
+
 
 def main() -> None:
     # Start viser server.
@@ -85,64 +105,5 @@ def _(_):
         time.sleep(10.0)
 
 
-ROBOT_MODEL_LIST = (
-    "edo_description",
-    "fanuc_m710ic_description",
-    "gen2_description",
-    "gen3_description",
-    "iiwa14_description",
-    "iiwa7_description",
-    "panda_description",
-    "poppy_ergo_jr_description",
-    "ur10_description",
-    "ur3_description",
-    "ur5_description",
-    "z1_description",
-    "bolt_description",
-    "cassie_description",
-    "rhea_description",
-    "spryped_description",
-    "upkie_description",
-    "baxter_description",
-    "nextage_description",
-    "poppy_torso_description",
-    "yumi_description",
-    "cf2_description",
-    "skydio_x2_description",
-    "double_pendulum_description",
-    "finger_edu_description",
-    "simple_humanoid_description",
-    "trifinger_edu_description",
-    "allegro_hand_description",
-    "barrett_hand_description",
-    "robotiq_2f85_description",
-    "atlas_drc_description",
-    "atlas_v4_description",
-    "draco3_description",
-    "ergocub_description",
-    "g1_description",
-    "h1_description",
-    "icub_description",
-    "jaxon_description",
-    "jvrc_description",
-    "r2_description",
-    "romeo_description",
-    "sigmaban_description",
-    "talos_description",
-    "valkyrie_description",
-    "a1_description",
-    "aliengo_description",
-    "anymal_b_description",
-    "anymal_c_description",
-    "b1_description",
-    "go1_description",
-    "go2_description",
-    "hyq_description",
-    "laikago_description",
-    "mini_cheetah_description",
-    "minitaur_description",
-    "solo_description",
-)
-
 if __name__ == "__main__":
     tyro.cli(main)
diff --git a/pyproject.toml b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "viser"
-version = "0.1.31"
+version = "0.2.0"
 description = "3D visualization + Python"
 readme = "README.md"
 license = { text="MIT" }
@@ -40,7 +40,7 @@ dependencies = [
 [project.optional-dependencies]
 dev = [
     "pyright>=1.1.308",
-    "ruff==0.4.3",
+    "ruff==0.4.6",
     "pre-commit==3.3.2",
 ]
 examples = [

diff --git a/src/viser/_client_autobuild.py b/src/viser/_client_autobuild.py
@@ -48,8 +48,12 @@ def ensure_client_is_built() -> None:
     elif not (build_dir / "index.html").exists():
         rich.print("[bold](viser)[/bold] No client build found. Building now...")
         build = True
-    elif _modified_time_recursive(client_dir / "src") > _modified_time_recursive(
-        build_dir
+    elif (
+        # We should be at least 10 seconds newer than the last build.
+        # This buffer is important when we install from pip, and the src/ +
+        # build/ directories have very similar timestamps.
+        _modified_time_recursive(client_dir / "src")
+        > _modified_time_recursive(build_dir) + 10.0
     ):
         rich.print(
             "[bold](viser)[/bold] Client build looks out of date. Building now..."

diff --git a/src/viser/_gui_api.py b/src/viser/_gui_api.py
@@ -7,12 +7,13 @@
 import time
 from concurrent.futures import ThreadPoolExecutor
 from pathlib import Path
-from typing import TYPE_CHECKING, Any, Sequence, TypeVar, Union, overload
+from typing import TYPE_CHECKING, Any, Sequence, Tuple, TypeVar, Union, cast, overload
 
 import numpy as onp
 from typing_extensions import (
     Literal,
     LiteralString,
+    TypeAlias,
     TypedDict,
     get_args,
     get_origin,
@@ -57,6 +58,17 @@
 TString = TypeVar("TString", bound=str)
 TLiteralString = TypeVar("TLiteralString", bound=LiteralString)
 T = TypeVar("T")
+LengthTenStrTuple: TypeAlias = Tuple[str, str, str, str, str, str, str, str, str, str]
+
+
+def _hex_from_hls(h: float, l: float, s: float) -> str:
+    """Converts HLS values in [0.0, 1.0] to a hex-formatted string, eg 0xffffff."""
+    return "#" + "".join(
+        [
+            int(min(255, max(0, channel * 255.0)) + 0.5).to_bytes(1, "little").hex()
+            for channel in colorsys.hls_to_rgb(h, l, s)
+        ]
+    )
 
 
 def _compute_step(x: float | None) -> float:  # type: ignore
@@ -382,9 +394,7 @@ def configure_theme(
             brand_color: An optional tuple of integers (RGB) representing the brand color.
         """
 
-        colors_cast: tuple[
-            str, str, str, str, str, str, str, str, str, str
-        ] | None = None
+        colors_cast: LengthTenStrTuple | None = None
 
         if brand_color is not None:
             assert len(brand_color) in (3, 10)
@@ -413,7 +423,10 @@ def configure_theme(
                         fp=onp.array([max_l, l, min_l]),
                     )
                 )
-                colors_cast = tuple(_hex_from_hls(h, ls[i], s) for i in range(10))  # type: ignore
+                colors_cast = cast(
+                    LengthTenStrTuple,
+                    tuple(_hex_from_hls(h, ls[i], s) for i in range(10)),
+                )
 
         assert colors_cast is None or all(
             [isinstance(val, str) and val.startswith("#") for val in colors_cast]

diff --git a/src/viser/_viser.py b/src/viser/_viser.py
@@ -31,7 +31,7 @@ class _BackwardsCompatibilityShim:
 
     def __getattr__(self, name: str) -> Any:
         fixed_name = {
-            # Map from old method names (viser v0.1.30) to new methods names.
+            # Map from old method names (viser v0.1.*) to new methods names.
             "reset_scene": "reset",
             "set_global_scene_node_visibility": "set_global_visibility",
             "on_scene_pointer": "on_pointer_event",
@@ -41,7 +41,7 @@ def __getattr__(self, name: str) -> Any:
         }.get(name, name)
         if hasattr(self.scene, fixed_name):
             warnings.warn(
-                f"{type(self).__name__}.{name} has been deprecated, use {type(self).__name__}.scene.{fixed_name} instead. Alternatively, pin to `viser<=0.1.30`.",
+                f"{type(self).__name__}.{name} has been deprecated, use {type(self).__name__}.scene.{fixed_name} instead. Alternatively, pin to `viser<0.2.0`.",
                 stacklevel=2,
             )
             return object.__getattribute__(self.scene, fixed_name)

diff --git a/src/viser/client/src/ControlPanel/Generated.tsx b/src/viser/client/src/ControlPanel/Generated.tsx
@@ -32,7 +32,7 @@ export default function GeneratedGuiContainer({
   const updateGuiProps = viewer.useGui((state) => state.updateGuiProps);
   const messageSender = makeThrottledMessageSender(viewer.websocketRef, 50);
 
-  function setValue(id: string, value: any) {
+  function setValue(id: string, value: NonNullable<unknown>) {
     updateGuiProps(id, { value: value });
     messageSender({
       type: "GuiUpdateMessage",

diff --git a/src/viser/client/src/ControlPanel/GuiComponentContext.tsx b/src/viser/client/src/ControlPanel/GuiComponentContext.tsx
@@ -3,7 +3,7 @@ import * as Messages from "../WebsocketMessages";
 
 interface GuiComponentContext {
   folderDepth: number;
-  setValue: (id: string, value: any) => void;
+  setValue: (id: string, value: NonNullable<unknown>) => void;
   messageSender: (message: Messages.Message) => void;
   GuiContainer: React.FC<{ containerId: string }>;
 }

diff --git a/src/viser/client/src/components/Dropdown.tsx b/src/viser/client/src/components/Dropdown.tsx
@@ -22,7 +22,7 @@ export default function DropdownComponent({
         radius="xs"
         value={value}
         data={options}
-        onChange={(value) => setValue(id, value)}
+        onChange={(value) => value !== null && setValue(id, value)}
         disabled={disabled}
         searchable
         maxDropdownHeight={400}

diff --git a/src/viser/extras/_urdf.py b/src/viser/extras/_urdf.py
@@ -2,13 +2,14 @@
 
 from functools import partial
 from pathlib import Path
-from typing import Dict, List, Tuple
+from typing import List, Tuple
 
 import numpy as onp
 import trimesh
-import viser
 import yourdfpy
 
+import viser
+
 from .. import transforms as tf