simview 4.0.0__tar.gz → 4.2.0__tar.gz

{simview-4.0.0/simview.egg-info → simview-4.2.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: simview
-Version: 4.0.0
+Version: 4.2.0
 Summary: THREE.js-based simulation visualization tool
 Author-email: Jan Vlk <vlkjan6@fel.cvut.cz>, Ales Kucera <kuceral4@fel.cvut.cz>, David Korcak <david.korcak@gmail.com>
 License-Expression: BSD-3-Clause
@@ -62,6 +62,8 @@ Want to try it without installing anything? There's a
 - **Interactive UI**: Web-based controls for playback, camera, and data inspection.
 - **Python API**: Easy-to-use API for generating scenes and launching the visualizer directly from your code.
 - **JSON Support**: Load and save simulation data using a portable JSON format.
+- **Remote Files**: Open a scene straight off a compute host with `simview host:path/to/scene.json` — fetched over SSH, compressed on the wire, and cached locally.
+- **Comparing Runs**: Merge several scene files into one, taking whole files or just picked batches — `simview gt.json method_a.json#1 method_b.json#1`.
 
 ---
 

{simview-4.0.0 → simview-4.2.0}/README.md

@@ -29,6 +29,8 @@ Want to try it without installing anything? There's a
 - **Interactive UI**: Web-based controls for playback, camera, and data inspection.
 - **Python API**: Easy-to-use API for generating scenes and launching the visualizer directly from your code.
 - **JSON Support**: Load and save simulation data using a portable JSON format.
+- **Remote Files**: Open a scene straight off a compute host with `simview host:path/to/scene.json` — fetched over SSH, compressed on the wire, and cached locally.
+- **Comparing Runs**: Merge several scene files into one, taking whole files or just picked batches — `simview gt.json method_a.json#1 method_b.json#1`.
 
 ---
 

{simview-4.0.0 → simview-4.2.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "simview"
-version = "4.0.0"
+version = "4.2.0"
 readme = "README.md"
 requires-python = ">=3.12"
 license = "BSD-3-Clause"

{simview-4.0.0 → simview-4.2.0}/simview/__init__.py

@@ -29,6 +29,7 @@ _LAZY_EXPORTS = {
     "SimViewStaticObject": "simview.model",
     "SimViewTerrain": "simview.model",
     "SimViewModel": "simview.model",
+    "SimViewEpisode": "simview.model",
     "BodyShapeType": "simview.model",
     "OptionalBodyStateAttribute": "simview.model",
     "SimViewBodyState": "simview.state",
@@ -42,6 +43,7 @@ if TYPE_CHECKING:
         BodyShapeType,
         OptionalBodyStateAttribute,
         SimViewBody,
+        SimViewEpisode,
         SimViewModel,
         SimViewStaticObject,
         SimViewTerrain,
@@ -58,6 +60,7 @@ __all__ = [
     "SimViewStaticObject",
     "SimViewTerrain",
     "SimViewModel",
+    "SimViewEpisode",
     "BodyShapeType",
     "OptionalBodyStateAttribute",
     "SimViewBodyState",

{simview-4.0.0 → simview-4.2.0}/simview/__main__.py

@@ -7,7 +7,7 @@ import sys
 import tempfile
 from pathlib import Path
 
-from simview import CACHE_DIR, __version__
+from simview import CACHE_DIR, __version__, remote
 from simview.server import SimViewServer
 
 logger = logging.getLogger("simview.cli")
@@ -43,12 +43,33 @@ def _package_version() -> str:
     return __version__
 
 
+def _dir_size(path: Path) -> int:
+    total = 0
+    for entry in path.rglob("*"):
+        try:
+            if entry.is_file():
+                total += entry.stat().st_size
+        except OSError:
+            pass
+    return total
+
+
 def clear_cache():
-    # Legacy cache directories (kept for cleanup of older installs).
-    for cache_dir in (Path("/tmp") / CACHE_DIR, Path.home() / ".cache" / CACHE_DIR):
-        if cache_dir.exists():
-            logger.info("Removing %s", cache_dir)
-            shutil.rmtree(cache_dir, ignore_errors=True)
+    """Remove simview's on-disk cache: scene files fetched from remote hosts
+    (see `simview.remote`), plus locations left behind by older installs."""
+    freed = 0
+    seen: set[Path] = set()
+    for cache_dir in (
+        remote.cache_dir(),
+        Path("/tmp") / CACHE_DIR,
+        Path.home() / ".cache" / CACHE_DIR,
+    ):
+        if cache_dir in seen or not cache_dir.is_dir():
+            continue
+        seen.add(cache_dir)
+        freed += _dir_size(cache_dir)
+        logger.info("Removing %s", cache_dir)
+        shutil.rmtree(cache_dir, ignore_errors=True)
 
     # Temp scenes written by SimViewLauncher (tempfile.mkstemp with this prefix);
     # these leak if a launched viewer is killed before cleanup runs.
@@ -61,6 +82,8 @@ def clear_cache():
             logger.warning("Could not remove %s: %s", leftover, e)
     if removed:
         logger.info("Removed %d leftover temporary scene file(s).", removed)
+    if freed:
+        logger.info("Freed %s.", remote.human_bytes(freed))
 
     logger.info("Cache cleared.")
 
@@ -277,16 +300,22 @@ def run_render(path: Path, args: argparse.Namespace) -> None:
         sys.exit(1)
 
 
-def save_merged(paths: list[Path], out_path: Path) -> None:
-    """Merge `paths` (must be >= 2) and write the result to `out_path`, gzipped
-    if it ends in .gz, without starting the server."""
-    if len(paths) < 2:
+def save_merged(
+    paths: list[Path],
+    out_path: Path,
+    selections: list[str | None] | None = None,
+) -> None:
+    """Merge `paths` (must be >= 2, or 1 with a batch selection) and write the
+    result to `out_path`, gzipped if it ends in .gz, without starting the
+    server."""
+    selected = selections is not None and any(s is not None for s in selections)
+    if len(paths) < 2 and not selected:
         logger.error("Error: --save-merged requires at least 2 input files to merge.")
         sys.exit(1)
 
     from simview.merge import merge_simulation_files
 
-    merged = merge_simulation_files(paths)
+    merged = merge_simulation_files(paths, selections)
     payload = json.dumps(merged).encode("utf-8")
     if out_path.suffix == ".gz":
         payload = gzip.compress(payload, compresslevel=1)
@@ -294,6 +323,21 @@ def save_merged(paths: list[Path], out_path: Path) -> None:
     logger.info("Merged scene written to %s", out_path)
 
 
+def _resolve_input(spec: str, args: argparse.Namespace) -> Path:
+    """Resolve one CLI input to a local file, first fetching it over SSH if it
+    is an scp-style 'host:path' spec (see `simview.remote`). Everything
+    downstream only ever sees an ordinary local path."""
+    try:
+        path = remote.resolve_input(spec, refresh=args.refresh, offline=args.offline)
+    except remote.RemoteError as e:
+        logger.error("Error: %s", e)
+        sys.exit(1)
+    if not (path.exists() and path.is_file()):
+        logger.error("Error: File '%s' not found or is not a file.", path)
+        sys.exit(1)
+    return path
+
+
 def build_parser() -> argparse.ArgumentParser:
     parser = argparse.ArgumentParser(description="SimView CLI")
     parser.add_argument(
@@ -308,7 +352,14 @@ def build_parser() -> argparse.ArgumentParser:
             "a PNG screenshot (needs the 'render' extra). Multiple "
             "visualize-mode files are merged into one scene, each file's "
             "batches appended as extra batches (e.g. a real-world recording "
-            "plus a simulated rerun)."
+            "plus a simulated rerun). Append '#<batches>' to a file to merge "
+            "only some of its batches (e.g. 'run.json#1', 'run.json#0,2-3', "
+            "'run.json#-1' or 'run.json#<batch name>'), so a ground truth "
+            "shared by several files isn't merged once per file. Any input "
+            "may instead be an scp-style "
+            "'host:path' spec (e.g. 'rci:~/results/scene.json'), which is "
+            "fetched over ssh -- compressed on the wire -- into a local cache "
+            "and re-fetched only when the remote file changes."
         ),
     )
     parser.add_argument(
@@ -420,7 +471,9 @@ def build_parser() -> argparse.ArgumentParser:
             "With 'simview diff <file>', restrict the trajectory diff to one "
             "body (matched by its full label, e.g. 'wheel_fl+wheel_fr', or by "
             "any single name inside a rigidly-grouped body). Default: diff "
-            "every body present in states."
+            "every body present in states, plus any rigidly-attached body "
+            "resolvable from them. Poses are compared in world space (parent "
+            "chains resolved), matching the viewer's Error Metrics panel."
         ),
     )
     parser.add_argument(
@@ -488,6 +541,22 @@ def build_parser() -> argparse.ArgumentParser:
             "the next free port is used instead."
         ),
     )
+    parser.add_argument(
+        "--refresh",
+        action="store_true",
+        help=(
+            "Re-fetch remote 'host:path' inputs even if the cached copy still "
+            "matches the remote file."
+        ),
+    )
+    parser.add_argument(
+        "--offline",
+        action="store_true",
+        help=(
+            "Use the cached copy of remote 'host:path' inputs without contacting "
+            "the host at all; fails if nothing is cached for them yet."
+        ),
+    )
     parser.add_argument(
         "--no-browser",
         action="store_true",
@@ -551,6 +620,18 @@ def main():
         parser.print_help()
         sys.exit(1)
 
+    # Remote specs are an input-side convenience only; writing back over ssh is
+    # deliberately out of scope, so catch it here rather than at open() time.
+    for flag, value in (("--output", args.output), ("--save-merged", args.save_merged)):
+        if value is not None and remote.is_remote_spec(value):
+            logger.error(
+                "Error: %s must be a local path, but '%s' looks like a remote "
+                "'host:path' spec; remote specs are only supported for inputs.",
+                flag,
+                value,
+            )
+            sys.exit(1)
+
     if args.inputs and args.inputs[0] == "info":
         info_args = args.inputs[1:]
         if len(info_args) != 1:
@@ -559,10 +640,7 @@ def main():
                 "'simview info scene.json'."
             )
             sys.exit(1)
-        info_path = Path(info_args[0])
-        if not (info_path.exists() and info_path.is_file()):
-            logger.error("Error: File '%s' not found or is not a file.", info_path)
-            sys.exit(1)
+        info_path = _resolve_input(info_args[0], args)
         run_info(info_path, as_json=args.json)
         return
 
@@ -574,10 +652,7 @@ def main():
                 "e.g. 'simview terrain scene.json --point 0 0'."
             )
             sys.exit(1)
-        terrain_path = Path(terrain_args[0])
-        if not (terrain_path.exists() and terrain_path.is_file()):
-            logger.error("Error: File '%s' not found or is not a file.", terrain_path)
-            sys.exit(1)
+        terrain_path = _resolve_input(terrain_args[0], args)
         run_terrain(terrain_path, args)
         return
 
@@ -589,10 +664,7 @@ def main():
                 "e.g. 'simview diff scene.json --batches 0 1'."
             )
             sys.exit(1)
-        diff_path = Path(diff_args[0])
-        if not (diff_path.exists() and diff_path.is_file()):
-            logger.error("Error: File '%s' not found or is not a file.", diff_path)
-            sys.exit(1)
+        diff_path = _resolve_input(diff_args[0], args)
         run_diff(diff_path, args)
         return
 
@@ -604,10 +676,7 @@ def main():
                 "e.g. 'simview render scene.json --output frame.png'."
             )
             sys.exit(1)
-        render_path = Path(render_args[0])
-        if not (render_path.exists() and render_path.is_file()):
-            logger.error("Error: File '%s' not found or is not a file.", render_path)
-            sys.exit(1)
+        render_path = _resolve_input(render_args[0], args)
         run_render(render_path, args)
         return
 
@@ -615,22 +684,35 @@ def main():
         clear_cache()
         return
 
-    paths = [Path(p) for p in args.inputs]
-    for path in paths:
-        if not (path.exists() and path.is_file()):
-            logger.error("Error: File '%s' not found or is not a file.", path)
-            sys.exit(1)
+    # Split "scene.json#1,3" into the file and the batches to take from it
+    # before resolving the file, so a remote spec can carry a selection too.
+    from simview.merge import split_batch_spec
 
-    if args.save_merged:
-        save_merged(paths, Path(args.save_merged))
-        return
+    try:
+        split_inputs = [split_batch_spec(spec) for spec in args.inputs]
+    except ValueError as e:
+        logger.error("Error: %s", e)
+        sys.exit(1)
+    paths = [_resolve_input(spec, args) for spec, _ in split_inputs]
+    selections: list[str | None] = [selector for _, selector in split_inputs]
 
-    SimViewServer.start(
-        sim_path=paths if len(paths) > 1 else paths[0],
-        host=args.host,
-        preferred_port=args.port,
-        open_browser=not args.no_browser,
-    )
+    try:
+        if args.save_merged:
+            save_merged(paths, Path(args.save_merged), selections)
+            return
+
+        SimViewServer.start(
+            sim_path=paths if len(paths) > 1 else paths[0],
+            host=args.host,
+            preferred_port=args.port,
+            open_browser=not args.no_browser,
+            batch_selections=selections,
+        )
+    except ValueError as e:
+        # A bad batch selection ("scene.json#9" on a 2-batch file) is user
+        # error, not a crash: report it like any other bad argument.
+        logger.error("Error: %s", e)
+        sys.exit(1)
 
 
 if __name__ == "__main__":