Use robot_descriptions for robot URDF example, fix modal edge case

docs/source/examples/03_gui_callbacks.rst

@@ -93,9 +93,7 @@ we get updates.
             # Here, we update the point clouds + frames whenever any of the GUI items are updated.
             gui_show_frame.on_update(lambda _: draw_frame())
             gui_show_everything.on_update(
-                lambda _: server.scene.set_global_scene_node_visibility(
-                    gui_show_everything.value
-                )
+                lambda _: server.scene.set_global_visibility(gui_show_everything.value)
             )
             gui_axis.on_update(lambda _: draw_frame())
             gui_location.on_update(lambda _: draw_frame())

docs/source/examples/09_urdf_visualizer.rst

@@ -1,17 +1,18 @@
 .. Comment: this file is automatically generated by `update_example_docs.py`.
    It should not be modified manually.
 
-URDF visualizer
+Robot URDF visualizer
 ==========================================
 
 
-Requires yourdfpy and URDF. Any URDF supported by yourdfpy should work.
+Requires yourdfpy and robot_descriptions. Any URDF supported by yourdfpy should work.
 
-Examples:
 
+* https://github.com/robot-descriptions/robot_descriptions.py
+* https://github.com/clemense/yourdfpy
 
-* https://github.com/OrebroUniversity/yumi/blob/master/yumi_description/urdf/yumi.urdf
-* https://github.com/ankurhanda/robot-assets
+The :class:`viser.extras.ViserUrdf` is a lightweight interface between yourdfpy
+and viser. It can also take a path to a local URDF file as input.
 
 
 
@@ -27,37 +28,62 @@ Examples:
         import numpy as onp
         import tyro
         import viser
+        from robot_descriptions.loaders.yourdfpy import load_robot_description
         from viser.extras import ViserUrdf
 
 
-        def main(urdf_path: Path) -> None:
+        def main() -> None:
+            # Start viser server.
             server = viser.ViserServer()
 
-            # 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.
+            # Logic for updating the visualized robot.
             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.gui.add_slider(
-                    label=joint_name,
-                    min=lower,
-                    max=upper,
-                    step=1e-3,
-                    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]))
+
+            def update_robot_model(robot_name: str) -> None:
+                server.scene.reset()
+
+                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(
+                    server,
+                    # This can also be set to a path to a local URDF file.
+                    urdf_or_path=load_robot_description(robot_name),
                 )
+                loading_modal.close()
+
+                for gui_joint in gui_joints:
+                    gui_joint.remove()
+                gui_joints.clear()
 
-                gui_joints.append(slider)
-                initial_angles.append(initial_angle)
+                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.gui.add_slider(
+                        label=joint_name,
+                        min=lower,
+                        max=upper,
+                        step=1e-3,
+                        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]))
+                    )
+
+                    gui_joints.append(slider)
+                    initial_angles.append(initial_angle)
+
+                # Apply initial joint angles.
+                urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
+
+            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))
 
             # Create joint reset button.
             reset_button = server.gui.add_button("Reset")
@@ -67,12 +93,68 @@ Examples:
                 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)
 
 
+        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)

examples/09_urdf_visualizer.py

@@ -1,10 +1,11 @@
-"""URDF visualizer
+"""Robot URDF visualizer
 
-Requires yourdfpy and URDF. Any URDF supported by yourdfpy should work.
+Requires yourdfpy and robot_descriptions. Any URDF supported by yourdfpy should work.
+- https://github.com/robot-descriptions/robot_descriptions.py
+- https://github.com/clemense/yourdfpy
 
-Examples:
-- https://github.com/OrebroUniversity/yumi/blob/master/yumi_description/urdf/yumi.urdf
-- https://github.com/ankurhanda/robot-assets
+The :class:`viser.extras.ViserUrdf` is a lightweight interface between yourdfpy
+and viser. It can also take a path to a local URDF file as input.
 """
 
 from __future__ import annotations
@@ -15,37 +16,62 @@
 import numpy as onp
 import tyro
 import viser
+from robot_descriptions.loaders.yourdfpy import load_robot_description
 from viser.extras import ViserUrdf
 
 
-def main(urdf_path: Path) -> None:
+def main() -> None:
+    # Start viser server.
     server = viser.ViserServer()
 
-    # 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.
+    # Logic for updating the visualized robot.
     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.gui.add_slider(
-            label=joint_name,
-            min=lower,
-            max=upper,
-            step=1e-3,
-            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]))
+
+    def update_robot_model(robot_name: str) -> None:
+        server.scene.reset()
+
+        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(
+            server,
+            # This can also be set to a path to a local URDF file.
+            urdf_or_path=load_robot_description(robot_name),
         )
+        loading_modal.close()
+
+        for gui_joint in gui_joints:
+            gui_joint.remove()
+        gui_joints.clear()
 
-        gui_joints.append(slider)
-        initial_angles.append(initial_angle)
+        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.gui.add_slider(
+                label=joint_name,
+                min=lower,
+                max=upper,
+                step=1e-3,
+                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]))
+            )
+
+            gui_joints.append(slider)
+            initial_angles.append(initial_angle)
+
+        # Apply initial joint angles.
+        urdf.update_cfg(onp.array([gui.value for gui in gui_joints]))
+
+    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))
 
     # Create joint reset button.
     reset_button = server.gui.add_button("Reset")
@@ -55,12 +81,68 @@ 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)
 
 
+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)

pyproject.toml

@@ -47,6 +47,7 @@ examples = [
     "torch>=1.13.1",
     "matplotlib>=3.7.1",
     "plotly>=5.21.0",
+    "robot_descriptions>=1.10.0",
 ]
 
 [project.urls]

src/viser/_gui_handles.py

@@ -464,9 +464,9 @@ def close(self) -> None:
         self._gui_api._websock_interface.queue_message(
             GuiCloseModalMessage(self._id),
         )
-        self._gui_api._container_handle_from_id.pop(self._id)
         for child in tuple(self._children.values()):
             child.remove()
+        self._gui_api._container_handle_from_id.pop(self._id)
 
 
 @dataclasses.dataclass