0.2.0

nerfstudio-project · Jun 7, 2024 · cd3c214 · cd3c214
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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/01_image.py b/examples/01_image.py
@@ -11,7 +11,6 @@
 
 import imageio.v3 as iio
 import numpy as onp
-
 import viser
 
 

diff --git a/examples/02_gui.py b/examples/02_gui.py
@@ -5,7 +5,6 @@
 import time
 
 import numpy as onp
-
 import viser
 
 

diff --git a/examples/03_gui_callbacks.py b/examples/03_gui_callbacks.py
@@ -6,9 +6,8 @@
 import time
 
 import numpy as onp
-from typing_extensions import assert_never
-
 import viser
+from typing_extensions import assert_never
 
 
 def main() -> None:

diff --git a/examples/05_camera_commands.py b/examples/05_camera_commands.py
@@ -7,7 +7,6 @@
 import time
 
 import numpy as onp
-
 import viser
 import viser.transforms as tf
 

diff --git a/examples/06_mesh.py b/examples/06_mesh.py
@@ -8,7 +8,6 @@
 
 import numpy as onp
 import trimesh
-
 import viser
 import viser.transforms as tf
 

diff --git a/examples/07_record3d_visualizer.py b/examples/07_record3d_visualizer.py
@@ -8,11 +8,10 @@
 
 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(

diff --git a/examples/08_smpl_visualizer.py b/examples/08_smpl_visualizer.py
@@ -13,7 +13,6 @@
 import numpy as np
 import numpy as onp
 import tyro
-
 import viser
 import viser.transforms as tf
 

diff --git a/examples/09_urdf_visualizer.py b/examples/09_urdf_visualizer.py
@@ -14,11 +14,31 @@
 
 import numpy as onp
 import tyro
-from robot_descriptions.loaders.yourdfpy import load_robot_description
-
 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/examples/10_realsense.py b/examples/10_realsense.py
@@ -11,9 +11,8 @@
 import numpy as np
 import numpy.typing as npt
 import pyrealsense2 as rs  # type: ignore
-from tqdm.auto import tqdm
-
 import viser
+from tqdm.auto import tqdm
 
 
 @contextlib.contextmanager

diff --git a/examples/11_colmap_visualizer.py b/examples/11_colmap_visualizer.py
@@ -10,10 +10,9 @@
 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,

diff --git a/examples/12_click_meshes.py b/examples/12_click_meshes.py
@@ -6,7 +6,6 @@
 import time
 
 import matplotlib
-
 import viser
 
 

diff --git a/examples/15_gui_in_scene.py b/examples/15_gui_in_scene.py
@@ -9,7 +9,6 @@
 from typing import Optional
 
 import numpy as onp
-
 import viser
 import viser.transforms as tf
 

diff --git a/examples/17_background_composite.py b/examples/17_background_composite.py
@@ -9,7 +9,6 @@
 import numpy as onp
 import trimesh
 import trimesh.creation
-
 import viser
 
 server = viser.ViserServer()

diff --git a/examples/18_splines.py b/examples/18_splines.py
@@ -6,7 +6,6 @@
 import time
 
 import numpy as onp
-
 import viser
 
 

diff --git a/examples/19_get_renders.py b/examples/19_get_renders.py
@@ -6,7 +6,6 @@
 
 import imageio.v3 as iio
 import numpy as onp
-
 import viser
 
 

diff --git a/examples/20_scene_pointer.py b/examples/20_scene_pointer.py
@@ -16,7 +16,6 @@
 import trimesh
 import trimesh.creation
 import trimesh.ray
-
 import viser
 import viser.transforms as tf
 

diff --git a/examples/22_games.py b/examples/22_games.py
@@ -7,10 +7,9 @@
 
 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:

diff --git a/examples/23_plotly.py b/examples/23_plotly.py
@@ -7,9 +7,8 @@
 import numpy as onp
 import plotly.express as px
 import plotly.graph_objects as go
-from PIL import Image
-
 import viser
+from PIL import Image
 
 
 def create_sinusoidal_wave(t: float) -> go.Figure:

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..."