vuer 0.0.25__py3-none-any.whl → 0.0.29rc8__py3-none-any.whl

vuer/schemas/scene_components.py

@@ -1,7 +1,8 @@
-import numpy as np
-from numpy._typing import NDArray
 from typing import List
 
+import numpy as np
+from numpy.typing import NDArray
+
 from vuer.schemas.html_components import BlockElement, Image, Element
 
 
@@ -310,6 +311,37 @@ class Pcd(SceneElement):
 
 
 class CameraView(SceneElement):
+    """CameraView for rendering from arbitrary camera poses.
+
+    :param fov: The vertical field of view of the camera. Defaults to 50.
+    :type fov: float, optional
+    :param width: The width of the camera image. Defaults to 320.
+    :type width: int, optional
+    :param height: The height of the camera image. Defaults to 240.
+    :type height: int, optional
+    :param key: The key of the camera view. Defaults to "ego".
+    :type key: str, optional
+    :param position: The position of the camera. Defaults to [0, 0, 0].
+    :type position: List[float], optional
+    :param rotation: The rotation of the camera. Defaults to [0, 0, 0]
+    :type rotation: List[float], optional
+    :param stream: The stream of the camera. Defaults to "ondemand".
+    :type stream: str, optional
+    :param fps: The frames per second of the camera. Defaults to 30.
+    :type fps: int, optional
+    :param near: The near field of the camera. Defaults to 0.1.
+    :type near: float, optional
+    :param far: The far field of the camera. Defaults to 20.
+    :type far: float, optional
+    :param renderDepth: Whether to render depth. If set, returns value["depthFrame"]. Defaults to True.
+    :type renderDepth: bool, optional
+    :param showFrustum: Whether to show the frustum. Defaults to True.
+    :type showFrustum: bool, optional
+    :param downsample: The downsample rate. Defaults to 1.
+    :type downsample: int, optional
+    :param distanceToCamera: The distance to the camera. Defaults to 2.
+    :type distanceToCamera: float, optional
+    """
     tag = "CameraView"
 
 
@@ -383,15 +415,26 @@ class Movable(SceneElement):
     tag = "Movable"
 
 
+class Hands(SceneElement):
+    tag = "Hands"
+
+    def __init__(self, fps=30, key="hands", eventTypes=('squeeze',), stream=False, left=None, right=None, **kwargs):
+        super().__init__(fps=fps, key=key, eventTypes=eventTypes, stream=stream, left=left, right=right, **kwargs)
+
+
 class Obj(SceneElement):
     tag = "Obj"
 
-    def __init__(self, src, mtl=None, materials=None, **kwargs):
+    def __init__(self, src=None, mtl=None, text=None, buff=None, materials=None, **kwargs):
         """
         :param src: The source of the obj file. Can be a url or a local file.
         :type  src: str
-        :param mtlSrc: The source of the mtl file. Can be a url or a local file.
-        :type  mtlSrc: str
+        :param mtl: The source of the mtl file. Can be a url or a local file.
+        :type  mtl: str
+        :param text: The text content of the obj file, allow one to load a scene from a string.
+        :type  text: str
+        :param buff: The binary content of the obj file. This is the most efficient, because you are sending binaries..
+        :type  buff: bytes
         :param materials: A list of materials to be used for the obj file.
         :type  materials: List[String]
 
@@ -399,7 +442,9 @@ class Obj(SceneElement):
         """
         self.src = src
         self.mtl = mtl
-        self.materials = []
+        self.text = text
+        self.buff = buff
+        self.materials = materials
 
         super().__init__(**kwargs)
 
@@ -440,6 +485,15 @@ class Ply(SceneElement):
 
 
 class Glb(SceneElement):
+    """Glb Component
+
+    # this follows the material type
+    :param materialType: Literal["basic", ...]
+    :param material: {
+      side=0: inside, side=1: outsie, side=2: both.
+    }
+
+    """
     tag = "Glb"
 
 

vuer/server.py

@@ -2,17 +2,19 @@ import asyncio
 from asyncio import sleep
 from collections import deque, defaultdict
 from functools import partial
+from pathlib import Path
 from typing import cast, Callable, Coroutine, Dict
 from uuid import uuid4
 
-from aiohttp.web_request import Request
+from aiohttp.hdrs import UPGRADE
+from aiohttp.web_request import Request, BaseRequest
 from aiohttp.web_response import Response
 from aiohttp.web_ws import WebSocketResponse
 from msgpack import packb, unpackb
 from params_proto import Proto, PrefixProto
 from websockets import ConnectionClosedError
 
-from vuer.base import Server
+from vuer.base import Server, handle_file_request, websocket_handler
 from vuer.events import (
     ClientEvent,
     NullEvent,
@@ -247,6 +249,9 @@ class VuerSession:
         yield from self.downlink_queue
 
 
+DEFAULT_PORT = 8012
+
+
 class Vuer(PrefixProto, Server):
     """Vuer Server
 
@@ -281,16 +286,20 @@ class Vuer(PrefixProto, Server):
     """
 
     name = "vuer"
-    uri = "ws://localhost:8012"
-    # change to vuer.dash.ml
     domain = "https://vuer.ai"
-    port = 8012
+    port = DEFAULT_PORT
     free_port = True
     static_root = "."
     queue_len = 100  # use a max length to avoid the memory from blowing up.
     cors = "https://vuer.ai,https://dash.ml,http://localhost:8000,http://127.0.0.1:8000,*"
     queries = Proto({}, help="query parameters to pass")
 
+    cert = Proto(None, dtype=str, help="the path to the SSL certificate")
+    key = Proto(None, dtype=str, help="the path to the SSL key")
+    ca_cert = Proto(None, dtype=str, help="the trusted root CA certificates")
+
+    client_root = Path(__file__).parent / "client_build"
+
     device = "cuda"
 
     def _proxy(self, ws_id) -> "VuerSession":
@@ -431,11 +440,20 @@ class Vuer(PrefixProto, Server):
         Get the URL for the Tassa.
         :return: The URL for the Tassa.
         """
-        if self.queries:
-            query_str = "&".join([f"{k}={v}" for k, v in self.queries.items()])
-            return f"{self.domain}?ws={self.uri}&" + query_str
+        if self.port != DEFAULT_PORT:
+            uri = f"ws://localhost:{self.port}"
+
+            if self.queries:
+                query_str = "&".join([f"{k}={v}" for k, v in self.queries.items()])
+                return f"{self.domain}?ws={uri}&" + query_str
+
+            return f"{self.domain}?ws={uri}"
+        else:
+            if self.queries:
+                query_str = "&".join([f"{k}={v}" for k, v in self.queries.items()])
+                return f"{self.domain}?" + query_str
 
-        return f"{self.domain}?ws={self.uri}"
+            return f"{self.domain}"
 
     async def send(self, ws_id, event: ServerEvent = None, event_bytes=None):
         ws = self.ws[ws_id]
@@ -488,7 +506,7 @@ class Vuer(PrefixProto, Server):
 
     async def rpc_stream(self, ws_id, event: ServerEvent = None, event_bytes=None):
         """This RPC offers multiple responses."""
-        raise NotImplemented("This is not implemented yet.")
+        raise NotImplementedError("This is not implemented yet.")
 
     async def close_ws(self, ws_id):
         # uplink is moved to the proxy object. Clearned by garbage collection.
@@ -606,10 +624,10 @@ class Vuer(PrefixProto, Server):
             await self.close_ws(ws_id)
 
     def add_handler(
-        self,
-        event_type: str,
-        fn: EventHandler = None,
-        once: bool = False,
+            self,
+            event_type: str,
+            fn: EventHandler = None,
+            once: bool = False,
     ) -> Callable[[], None]:
         """Adding event handlers to the vuer server.
 
@@ -671,12 +689,31 @@ class Vuer(PrefixProto, Server):
 
         return ttl_handler()
 
+    async def socket_index(self, request: BaseRequest):
+        """This is the relay object for sending events to the server.
+
+        Todo: add API for specifying the websocket ID. Or just broadcast to all.
+        Todo: add type hint
+
+        Interface:
+            <uri>/relay?sid=<websocket_id>
+
+        :return:
+            - Status 200
+            - Status 400
+
+        """
+        headers = request.headers
+        if "websocket" != headers.get(UPGRADE, "").lower().strip():
+            return await handle_file_request(request, self.client_root, filename="index.html")
+        else:
+            return await websocket_handler(request, self.downlink)
+
     def run(self, kill=None, *args, **kwargs):
         import os
 
         # protocol, host, _ = self.uri.split(":")
         # port = int(_)
-
         if kill or self.free_port:
             import time
             from killport import kill_ports
@@ -684,7 +721,15 @@ class Vuer(PrefixProto, Server):
             kill_ports(ports=[self.port])
             time.sleep(0.01)
 
-        self._socket("", self.downlink)
+        # Serve the client build locally.
+        # self._socket("", self.downlink)
+        # self._static_file("", Path(__file__).parent / "client_build", filename="index.html")
+
+        # use the same endpoint for websocket and file serving.
+        self._route("", self.socket_index, method="GET")
+        self._static("/assets", self.client_root / "assets")
+        self._static("/hands", self.client_root / "hands")
+
         # serve local files via /static endpoint
         self._static("/static", self.static_root)
         print("Serving file://" + os.path.abspath(self.static_root), "at", "/static")

{vuer-0.0.25.dist-info → vuer-0.0.29rc8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: vuer
-Version: 0.0.25
+Version: 0.0.29rc8
 Home-page: https://github.com/geyang/vuer
 Author: Ge Yang<ge.ike.yang@gmail.com>
 Author-email: ge.ike.yang@gmail.com
@@ -10,18 +10,19 @@ Classifier: Programming Language :: Python
 Requires-Python: >=3.7
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: killport
 Requires-Dist: params-proto >=2.11.16
 Requires-Dist: pillow
 Requires-Dist: msgpack
-Requires-Dist: numpy
+Requires-Dist: numpy >=1.21
 Requires-Dist: websockets
 Provides-Extra: all
 Requires-Dist: aiohttp ; extra == 'all'
 Requires-Dist: aiohttp-cors ; extra == 'all'
+Requires-Dist: killport ; extra == 'all'
 Provides-Extra: dev
 Requires-Dist: aiohttp ; extra == 'dev'
 Requires-Dist: aiohttp-cors ; extra == 'dev'
+Requires-Dist: killport ; extra == 'dev'
 Requires-Dist: black ==22.3.0 ; extra == 'dev'
 Requires-Dist: pylint ==2.13.4 ; extra == 'dev'
 Requires-Dist: pytest ==7.1.2 ; extra == 'dev'
@@ -29,9 +30,18 @@ Requires-Dist: sphinx ==7.1.2 ; extra == 'dev'
 Requires-Dist: furo ; extra == 'dev'
 Requires-Dist: sphinx-copybutton ; extra == 'dev'
 Requires-Dist: myst-parser ; extra == 'dev'
-Requires-Dist: termcolor ; extra == 'dev'
 Requires-Dist: trimesh ; extra == 'dev'
 Requires-Dist: tqdm ; extra == 'dev'
+Provides-Extra: example
+Requires-Dist: aiohttp ; extra == 'example'
+Requires-Dist: aiohttp-cors ; extra == 'example'
+Requires-Dist: killport ; extra == 'example'
+Requires-Dist: open3d <0.16.0,>=0.15.0 ; extra == 'example'
+Requires-Dist: trimesh ; extra == 'example'
+Requires-Dist: cmx ; extra == 'example'
+Requires-Dist: functional-notations ; extra == 'example'
+Requires-Dist: ml-logger ; extra == 'example'
+Requires-Dist: opencv-python ; extra == 'example'
 
 <h2>Vuer: Modern High-Performance Visualization for AI & Robotics in VR
 <br/>
@@ -68,7 +78,7 @@ pip install -U 'vuer[all]'
 ```
 
 Here is an example that loads a URDF file and displays it in the browser. For a more comprehensive list of examples, please refer to
-the [examples](https://docs.vuer.ai/en/latest/examples.html) page.
+the [examples](https://docs.vuer.ai/en/latest/examples/01_trimesh.html) page.
 
 ```python
 from vuer import Vuer, VuerSession
@@ -91,13 +101,13 @@ async def main(session: VuerSession):
 
 To get a quick overview of what you can do with `vuer`, check out the following:
 
-- take a look at the example gallery [here](https://docs.vuer.ai/en/latest/examples.html)
-- or try to take a look at this demo [here](https://docs.vuer.ai/en/latest/examples.html#demo)
+- take a look at the example gallery [here](https://docs.vuer.ai/en/latest/examples/01_trimesh.html)
+- or try to take a look at this demo with a Unitree Go1 robot in front of a flight of stairs [here](https://docs.vuer.ai/en/latest/tutorials/robotics/urdf_go1_stairs.html)
 
 For a comprehensive list of visualization components, please refer to
-the [API documentation on Components](https://docs.vuer.ai/en/latest/api.html).
+the [API documentation on Components](https://docs.vuer.ai/en/latest/api/vuer.html).
 
-For a comprehensive list of data types, please refer to the [API documentation on Data Types](https://docs.vuer.ai/en/latest/api.html).
+For a comprehensive list of data types, please refer to the [API documentation on Data Types](https://docs.vuer.ai/en/latest/api/types.html).
 
 Now, to run the examples, first download the example datasets.
 
@@ -121,7 +131,7 @@ python 01_trimesh.py
 Documentation is a crucial part of the `vuer` ecosystem. To contribute to documentation and usage examples, simply:
 
 ```bash
-pip install -e '.[dev]'
+pip install -e '.[all]'
 make docs
 ```
 This should fire up an http server at the port `8888`, and you can view the documentation at `http://localhost:8888`.

vuer-0.0.29rc8.dist-info/RECORD

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