"""Visualize downloaded grippers and arms with an animated viser server.""" from __future__ import annotations import argparse import json import math import time from dataclasses import dataclass from pathlib import Path import numpy as np import trimesh import viser import yaml import yourdfpy ROOT = Path(__file__).resolve().parent @dataclass class Embodiment: """Hold a loaded URDF and the endpoints of its animation.""" name: str kind: str robot: yourdfpy.URDF start: dict[str, float] end: dict[str, float] def discover(kind: str) -> dict[str, Path]: """Find one preferred URDF for each downloaded embodiment.""" found = {} for folder in sorted((ROOT / kind).iterdir()): if not folder.is_dir() or folder.name.lower() == "armbot": continue candidates = [folder / "gripper.urdf"] if kind == "grippers" else [] config_path = folder / "config.yml" if config_path.exists(): config = yaml.safe_load(config_path.read_text()) or {} if config.get("urdf_path"): candidates.append(folder / config["urdf_path"]) candidates += sorted(folder.glob("*.urdf")) candidates += sorted((folder / "urdf").glob("*.urdf")) for path in candidates: if path.is_file(): found[folder.name] = path break return found def load_embodiment(kind: str, name: str, path: Path) -> Embodiment: """Load visual geometry and choose motion endpoints from asset metadata.""" robot = yourdfpy.URDF.load(str(path), build_scene_graph=True, load_meshes=True, build_collision_scene_graph=False, load_collision_meshes=False) joints = {joint.name: joint for joint in robot.robot.joints if joint.type in ("revolute", "continuous", "prismatic") and joint.mimic is None} start = {} end = {} folder = path.parent if path.parent.name != "urdf" else path.parent.parent gripper_config = folder / "config.json" arm_config = folder / "config.yml" open_pose = close_pose = {} home_pose = {} if kind == "grippers" and gripper_config.exists(): config = json.loads(gripper_config.read_text()) open_pose, close_pose = config.get("open", {}), config.get("close", {}) if kind == "arms" and arm_config.exists(): config = yaml.safe_load(arm_config.read_text()) or {} names = config.get("arm_joints_name", [[]])[0] values = config.get("homestate", [[]])[0] home_pose = dict(zip(names, values)) for index, (joint_name, joint) in enumerate(joints.items()): lower = float(joint.limit.lower) if joint.limit and joint.limit.lower is not None else -math.pi upper = float(joint.limit.upper) if joint.limit and joint.limit.upper is not None else math.pi if lower > upper: lower, upper = upper, lower initial = float(open_pose.get(joint_name, home_pose.get(joint_name, 0.0))) start[joint_name] = float(np.clip(initial, lower, upper)) if joint_name in close_pose: target = float(close_pose[joint_name]) elif kind == "arms" and joint_name in home_pose: # Alternate neighboring arm joints in opposite directions for a visible, modest motion. target = initial + (0.35 if index % 2 == 0 else -0.35) else: target = upper if abs(upper - initial) >= abs(initial - lower) else lower end[joint_name] = float(np.clip(target, lower, upper)) return Embodiment(name, kind, robot, start, end) def add_visuals(server: viser.ViserServer, item: Embodiment, offset: np.ndarray) -> list[tuple[str, object]]: """Create each visual mesh once and retain handles for transform updates.""" handles = [] scene = item.robot.scene for index, (geometry_name, geometry) in enumerate(scene.geometry.items()): if isinstance(geometry, trimesh.Scene): geometry = geometry.dump(concatenate=True) if not isinstance(geometry, trimesh.Trimesh) or len(geometry.vertices) == 0: continue handle = server.scene.add_mesh_trimesh(f"/{item.kind}/{item.name}/mesh_{index}", geometry) handles.append((geometry_name, handle)) server.scene.add_label(f"/{item.kind}/{item.name}/label", item.name, position=tuple(offset + [0, 0, -0.08])) return handles def update_pose(item: Embodiment, handles: list[tuple[str, object]], offset: np.ndarray, phase: float) -> None: """Apply interpolated joint positions and update all mesh transforms.""" pose = {name: value + phase * (item.end[name] - value) for name, value in item.start.items()} item.robot.update_cfg(pose) for geometry_name, handle in handles: transform = item.robot.scene.graph.get(geometry_name)[0] handle.position = tuple(transform[:3, 3] + offset) handle.wxyz = tuple(trimesh.transformations.quaternion_from_matrix(transform)) def main() -> None: """Discover selected assets and serve their looping motion in viser.""" parser = argparse.ArgumentParser(description=__doc__) parser.add_argument("--kind", choices=("grippers", "arms"), default="grippers") parser.add_argument("--name", help="Embodiment directory name") parser.add_argument("--all", action="store_true", help="Show all gripper URDFs") parser.add_argument("--list", action="store_true", help="List available URDFs and exit") parser.add_argument("--port", type=int, default=8080) args = parser.parse_args() if args.all and args.kind != "grippers": parser.error("--all is only available for grippers") available = discover(args.kind) if args.list: for kind in ("grippers", "arms"): print(f"{kind}: {', '.join(discover(kind))}") return if not args.all and args.name not in available: all_hint = " (or use --all)" if args.kind == "grippers" else "" parser.error(f"Choose --name from: {', '.join(available)}{all_hint}") selected = available if args.all else {args.name: available[args.name]} server = viser.ViserServer(port=args.port) models = [] for index, (name, path) in enumerate(selected.items()): try: item = load_embodiment(args.kind, name, path) spacing = 1.2 if args.kind == "arms" else 0.35 offset = np.array([index % 5 * spacing, index // 5 * spacing, 0.0]) handles = add_visuals(server, item, offset) update_pose(item, handles, offset, 0.0) models.append((item, handles, offset)) print(f"Loaded {args.kind}/{name}: {len(handles)} visuals, {len(item.start)} joints") except Exception as exc: if not args.all: raise print(f"Failed {args.kind}/{name}: {exc}") if not models: raise RuntimeError("No embodiments could be loaded") phase_slider = server.gui.add_slider("Pose", min=0.0, max=1.0, step=0.01, initial_value=0.0) playing = server.gui.add_checkbox("Play", initial_value=True) print(f"Viewer: http://localhost:{server.get_port()}") previous = time.monotonic() phase = 0.0 while True: now = time.monotonic() if playing.value: phase = (phase + (now - previous) / 3.0) % 2.0 phase_slider.value = round(phase if phase <= 1.0 else 2.0 - phase, 2) previous = now for item, handles, offset in models: update_pose(item, handles, offset, phase_slider.value) time.sleep(0.05) if __name__ == "__main__": main()