Abhik/splines

docs/source/examples/02_gui.rst

@@ -24,7 +24,7 @@ Examples of basic GUI elements that we can create, read from, and write to.
             server = viser.ViserServer()
 
             # Add some common GUI elements: number inputs, sliders, vectors, checkboxes.
-            with server.gui_folder("Read-only"):
+            with server.add_gui_folder("Read-only"):
                 gui_counter = server.add_gui_number(
                     "Counter",
                     initial_value=0,
@@ -40,7 +40,7 @@ Examples of basic GUI elements that we can create, read from, and write to.
                     disabled=True,
                 )
 
-            with server.gui_folder("Editable"):
+            with server.add_gui_folder("Editable"):
                 gui_vector2 = server.add_gui_vector2(
                     "Position",
                     initial_value=(0.0, 0.0),
@@ -50,9 +50,8 @@ Examples of basic GUI elements that we can create, read from, and write to.
                     "Size",
                     initial_value=(1.0, 1.0, 1.0),
                     step=0.25,
-                    lock=True,
                 )
-                with server.gui_folder("Text toggle"):
+                with server.add_gui_folder("Text toggle"):
                     gui_checkbox_hide = server.add_gui_checkbox(
                         "Hide",
                         initial_value=False,

docs/source/examples/03_gui_callbacks.rst

@@ -25,25 +25,25 @@ we get updates.
         def main() -> None:
             server = viser.ViserServer()
 
-            with server.gui_folder("Control"):
+            gui_reset_scene = server.add_gui_button("Reset Scene")
+
+            with server.add_gui_folder("Control"):
                 gui_show = server.add_gui_checkbox("Show Frame", initial_value=True)
-                gui_axis = server.add_gui_dropdown("Axis", ["x", "y", "z"])
+                gui_axis = server.add_gui_dropdown("Axis", ("x", "y", "z"))
                 gui_include_z = server.add_gui_checkbox("Z in dropdown", initial_value=True)
 
                 @gui_include_z.on_update
                 def _(_) -> None:
-                    gui_axis.options = ["x", "y", "z"] if gui_include_z.value else ["x", "y"]
+                    gui_axis.options = ("x", "y", "z") if gui_include_z.value else ("x", "y")
 
-                with server.gui_folder("Sliders"):
+                with server.add_gui_folder("Sliders"):
                     gui_location = server.add_gui_slider(
                         "Location", min=-5.0, max=5.0, step=0.05, initial_value=0.0
                     )
                     gui_num_points = server.add_gui_slider(
                         "# Points", min=1000, max=200_000, step=1000, initial_value=10_000
                     )
 
-            gui_reset_scene = server.add_gui_button("Reset Scene")
-
             def draw_frame() -> None:
                 axis = gui_axis.value
                 if axis == "x":
@@ -79,7 +79,7 @@ we get updates.
             gui_num_points.on_update(lambda _: draw_points())
 
             @gui_reset_scene.on_click
-            def _(_: viser.GuiButtonHandle) -> None:
+            def _(_) -> None:
                 """Reset the scene when the reset button is clicked."""
                 gui_show.value = True
                 gui_location.value = 0.0

docs/source/examples/05_camera_commands.rst

@@ -56,17 +56,17 @@ corresponding client automatically.
 
                     T_current_target = T_world_current.inverse() @ T_world_target
 
-                    for j in range(50):
+                    for j in range(20):
                         T_world_set = T_world_current @ tf.SE3.exp(
-                            T_current_target.log() * j / 49.0
+                            T_current_target.log() * j / 19.0
                         )
 
                         # Important bit: we atomically set both the orientation and the position
                         # of the camera.
                         with client.atomic():
                             client.camera.wxyz = T_world_set.rotation().wxyz
                             client.camera.position = T_world_set.translation()
-                        time.sleep(0.01)
+                        time.sleep(1.0 / 60.0)
 
                     # Mouse interactions should orbit around the frame origin.
                     client.camera.look_at = frame.position

docs/source/examples/07_record3d_visualizer.rst

@@ -28,8 +28,8 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
 
         def main(
             data_path: Path = Path(__file__).parent / "assets/record3d_dance",
-            downsample_factor: int = 2,
-            max_frames: int = 50,
+            downsample_factor: int = 4,
+            max_frames: int = 100,
         ) -> None:
             server = viser.ViserServer()
 
@@ -38,18 +38,23 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
             num_frames = min(max_frames, loader.num_frames())
 
             # Add playback UI.
-            with server.gui_folder("Playback"):
+            with server.add_gui_folder("Playback"):
                 gui_timestep = server.add_gui_slider(
-                    "Timestep", min=0, max=num_frames - 1, step=1, initial_value=0
+                    "Timestep",
+                    min=0,
+                    max=num_frames - 1,
+                    step=1,
+                    initial_value=0,
+                    disabled=True,
                 )
-                gui_next_frame = server.add_gui_button("Next Frame")
-                gui_prev_frame = server.add_gui_button("Prev Frame")
-                gui_playing = server.add_gui_checkbox("Playing", False)
+                gui_next_frame = server.add_gui_button("Next Frame", disabled=True)
+                gui_prev_frame = server.add_gui_button("Prev Frame", disabled=True)
+                gui_playing = server.add_gui_checkbox("Playing", True)
                 gui_framerate = server.add_gui_slider(
                     "FPS", min=1, max=60, step=0.1, initial_value=loader.fps
                 )
                 gui_framerate_options = server.add_gui_button_group(
-                    "FPS options", ["10", "20", "30", "60"]
+                    "FPS options", ("10", "20", "30", "60")
                 )
 
             # Frame step buttons.

docs/source/examples/08_smplx_visualizer.rst

@@ -43,6 +43,7 @@ parameters to run this script:
             ext: Literal["npz", "pkl"] = "npz",
         ) -> None:
             server = viser.ViserServer()
+            server.configure_theme(control_layout="collapsible", dark_mode=True)
             model = smplx.create(
                 model_path=str(model_path),
                 model_type=model_type,
@@ -66,7 +67,7 @@ parameters to run this script:
             # Main loop. We'll just keep read from the joints, deform the mesh, then sending the
             # updated mesh in a loop. This could be made a lot more efficient.
             gui_elements = make_gui_elements(
-                server, num_betas=model.num_betas, num_body_joints=model.NUM_BODY_JOINTS
+                server, num_betas=model.num_betas, num_body_joints=int(model.NUM_BODY_JOINTS)
             )
             while True:
                 # Do nothing if no change.
@@ -75,6 +76,10 @@ parameters to run this script:
                     continue
                 gui_elements.changed = False
 
+                full_pose = torch.from_numpy(
+                    onp.array([j.value for j in gui_elements.gui_joints[1:]], dtype=onp.float32)[None, ...]  # type: ignore
+                )
+
                 # Get deformed mesh.
                 output = model.forward(
                     betas=torch.from_numpy(  # type: ignore
@@ -84,9 +89,7 @@ parameters to run this script:
                     ),
                     expression=None,
                     return_verts=True,
-                    body_pose=torch.from_numpy(
-                        onp.array([j.value for j in gui_elements.gui_joints[1:]], dtype=onp.float32)[None, ...]  # type: ignore
-                    ),
+                    body_pose=full_pose[:, : model.NUM_BODY_JOINTS],  # type: ignore
                     global_orient=torch.from_numpy(onp.array(gui_elements.gui_joints[0].value, dtype=onp.float32)[None, ...]),  # type: ignore
                     return_full_pose=True,
                 )
@@ -119,10 +122,10 @@ parameters to run this script:
         class GuiElements:
             """Structure containing handles for reading from GUI elements."""
 
-            gui_rgb: viser.GuiHandle[Tuple[int, int, int]]
-            gui_wireframe: viser.GuiHandle[bool]
-            gui_betas: List[viser.GuiHandle[float]]
-            gui_joints: List[viser.GuiHandle[Tuple[float, float, float]]]
+            gui_rgb: viser.GuiInputHandle[Tuple[int, int, int]]
+            gui_wireframe: viser.GuiInputHandle[bool]
+            gui_betas: List[viser.GuiInputHandle[float]]
+            gui_joints: List[viser.GuiInputHandle[Tuple[float, float, float]]]
 
             changed: bool
             """This flag will be flipped to True whenever the mesh needs to be re-generated."""
@@ -133,28 +136,28 @@ parameters to run this script:
         ) -> GuiElements:
             """Make GUI elements for interacting with the model."""
 
+            tab_group = server.add_gui_tab_group()
+
             # GUI elements: mesh settings + visibility.
-            with server.gui_folder("View"):
+            with tab_group.add_tab("View", viser.Icon.VIEWFINDER):
                 gui_rgb = server.add_gui_rgb("Color", initial_value=(90, 200, 255))
+                gui_wireframe = server.add_gui_checkbox("Wireframe", initial_value=False)
+                gui_show_controls = server.add_gui_checkbox("Handles", initial_value=False)
 
                 @gui_rgb.on_update
                 def _(_):
                     out.changed = True
 
-                gui_wireframe = server.add_gui_checkbox("Wireframe", initial_value=False)
-
                 @gui_wireframe.on_update
                 def _(_):
                     out.changed = True
 
-                gui_show_controls = server.add_gui_checkbox("Handles", initial_value=False)
-
                 @gui_show_controls.on_update
                 def _(_):
                     add_transform_controls(enabled=gui_show_controls.value)
 
             # GUI elements: shape parameters.
-            with server.gui_folder("Shape"):
+            with tab_group.add_tab("Shape", viser.Icon.BOX):
                 gui_reset_shape = server.add_gui_button("Reset Shape")
                 gui_random_shape = server.add_gui_button("Random Shape")
 
@@ -180,8 +183,7 @@ parameters to run this script:
                         out.changed = True
 
             # GUI elements: joint angles.
-            with server.gui_folder("Joints"):
-                # Reset button.
+            with tab_group.add_tab("Joints", viser.Icon.ANGLE):
                 gui_reset_joints = server.add_gui_button("Reset Joints")
                 gui_random_joints = server.add_gui_button("Random Joints")
 
@@ -203,10 +205,10 @@ parameters to run this script:
                         joint.value = tf.SO3(wxyz=quat).log()
                         sync_transform_controls()
 
-                gui_joints: List[viser.GuiHandle[Tuple[float, float, float]]] = []
+                gui_joints: List[viser.GuiInputHandle[Tuple[float, float, float]]] = []
                 for i in range(num_body_joints + 1):
                     gui_joint = server.add_gui_vector3(
-                        name=smplx.joint_names.JOINT_NAMES[i],
+                        label=smplx.joint_names.JOINT_NAMES[i],
                         initial_value=(0.0, 0.0, 0.0),
                         step=0.05,
                     )
@@ -221,7 +223,7 @@ parameters to run this script:
             transform_controls: List[viser.TransformControlsHandle] = []
 
             def add_transform_controls(enabled: bool) -> List[viser.TransformControlsHandle]:
-                for i in range(num_body_joints + 1):
+                for i in range(1 + num_body_joints):
                     controls = server.add_transform_controls(
                         f"/reoriented/smpl/joint_{i}/controls",
                         depth_test=False,

docs/source/examples/09_urdf_visualizer.rst

@@ -19,97 +19,58 @@ Examples:
         :linenos:
 
 
+        from __future__ import annotations
+
         import time
-        from functools import partial
         from pathlib import Path
         from typing import List
 
         import numpy as onp
-        import trimesh
         import tyro
-        import yourdfpy
 
         import viser
-        import viser.transforms as tf
+        from viser.extras import ViserUrdf
 
 
         def main(urdf_path: Path) -> None:
-            urdf = yourdfpy.URDF.load(
-                urdf_path,
-                filename_handler=partial(yourdfpy.filename_handler_magic, dir=urdf_path.parent),
-            )
             server = viser.ViserServer()
 
-            def frame_name_with_parents(frame_name: str) -> str:
-                frames = []
-                while frame_name != urdf.scene.graph.base_frame:
-                    frames.append(frame_name)
-                    frame_name = urdf.scene.graph.transforms.parents[frame_name]
-                return "/" + "/".join(frames[::-1])
-
-            for frame_name, mesh in urdf.scene.geometry.items():
-                assert isinstance(mesh, trimesh.Trimesh)
-                T_parent_child = urdf.get_transform(
-                    frame_name, urdf.scene.graph.transforms.parents[frame_name]
+            # Create a helper for adding URDFs to Viser. This just adds meshes to the scene,
+            # helps us set the joint angles, etc.
+            urdf = ViserUrdf(server, urdf_path)
+
+            # Create joint angle sliders.
+            gui_joints: List[viser.GuiInputHandle[float]] = []
+            initial_angles: List[float] = []
+            for joint_name, (lower, upper) in 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.add_gui_slider(
+                    label=joint_name,
+                    min=lower,
+                    max=upper,
+                    step=1e-3,
+                    initial_value=initial_angle,
                 )
-                server.add_mesh_trimesh(
-                    frame_name_with_parents(frame_name),
-                    mesh,
-                    wxyz=tf.SO3.from_matrix(T_parent_child[:3, :3]).wxyz,
-                    position=T_parent_child[:3, 3],
+                slider.on_update(  # When sliders move, we update the URDF configuration.
+                    lambda _: urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
                 )
 
-            gui_joints: List[viser.GuiHandle[float]] = []
-            with server.gui_folder("Joints"):
-                button = server.add_gui_button("Reset")
-
-                @button.on_click
-                def _(_):
-                    for g in gui_joints:
-                        g.value = 0.0
-
-                def update_frames():
-                    urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
-                    for joint in urdf.joint_map.values():
-                        assert isinstance(joint, yourdfpy.Joint)
-                        T_parent_child = urdf.get_transform(joint.child, joint.parent)
-                        server.add_frame(
-                            frame_name_with_parents(joint.child),
-                            wxyz=tf.SO3.from_matrix(T_parent_child[:3, :3]).wxyz,
-                            position=T_parent_child[:3, 3],
-                            show_axes=False,
-                        )
-
-                for joint_name, joint in urdf.joint_map.items():
-                    assert isinstance(joint, yourdfpy.Joint)
-
-                    min = (
-                        joint.limit.lower
-                        if joint.limit is not None and joint.limit.lower is not None
-                        else -onp.pi
-                    )
-                    max = (
-                        joint.limit.upper
-                        if joint.limit is not None and joint.limit.upper is not None
-                        else onp.pi
-                    )
-                    slider = server.add_gui_slider(
-                        name=joint_name,
-                        min=min,
-                        max=max,
-                        step=1e-3,
-                        initial_value=0.0 if min < 0 and max > 0 else (min + max) / 2.0,
-                    )
-                    if joint.limit is None:
-                        slider.visible = False
-
-                    @slider.on_update
-                    def _(_):
-                        update_frames()
-
-                    gui_joints.append(slider)
-
-            update_frames()
+                gui_joints.append(slider)
+                initial_angles.append(initial_angle)
+
+            # Create joint reset button.
+            reset_button = server.add_gui_button("Reset")
+
+            @reset_button.on_click
+            def _(_):
+                for g, initial_angle in zip(gui_joints, initial_angles):
+                    g.value = initial_angle
+
+            # Apply initial joint angles.
+            urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
 
             while True:
                 time.sleep(10.0)