- name
- examples
- description
- Common Vuer patterns - animation, URDF, point clouds, interactivity, batch updates (plugin:vuer@vuer)
Vuer Examples
Animation Loop
@app.spawn(start=True)
async def main(session: VuerSession):
session.set @ DefaultScene()
t = 0
while True:
t += 0.05
session.upsert @ Box(key="box", position=[np.sin(t), 0.5, np.cos(t)], rotation=[0, t, 0])
await asyncio.sleep(0.016)
URDF Robot
session.set @ DefaultScene(
Urdf(key="robot", src="/static/panda.urdf",
jointValues={"panda_joint1": 0, "panda_joint2": -0.5, "panda_joint4": -2.0})
)
Point Cloud
vertices = np.random.randn(10000, 3).astype(np.float16) * 2
colors = (np.random.rand(10000, 3) * 255).astype(np.uint8)
session.set @ DefaultScene(PointCloud(key="pcd", vertices=vertices, colors=colors, size=0.02))
Interactive Movable
session.set @ DefaultScene(Movable(key="m", children=[Box(key="box", color="green")]))
@app.add_handler("OBJECT_MOVE")
async def on_move(event, session):
print(event.value)
Batch Updates
while True:
session.upsert @ [Box(key=f"box-{i}", position=pos) for i, pos in enumerate(positions)]
await asyncio.sleep(0.016)
Frame Capture
await asyncio.sleep(1)
render = await session.grab_render(quality=0.9)
render.value.save("screenshot.png")
Hierarchical Scene
session.set @ DefaultScene(
group(key="arm", children=[
Box(key="base", args=[0.5, 0.1, 0.5]),
group(key="link1", position=[0, 0.1, 0], children=[
Cylinder(key="j1", args=[0.05, 0.05, 0.3]),
group(key="link2", position=[0, 0.3, 0], children=[...])
])
])
)
