fastdev.sim_webui.webui

Module Contents

fastdev.sim_webui.webui.AssetType

fastdev.sim_webui.webui.JointValues

fastdev.sim_webui.webui.JointValuesLike

fastdev.sim_webui.webui.Poses

fastdev.sim_webui.webui.PosesLike

fastdev.sim_webui.webui.Vertices

fastdev.sim_webui.webui.VerticesLike

fastdev.sim_webui.webui.FacesLike

fastdev.sim_webui.webui.Color

fastdev.sim_webui.webui.ColorLike

fastdev.sim_webui.webui.ScaleLike

fastdev.sim_webui.webui.AxesPositions

fastdev.sim_webui.webui.AxesPositionsLike

fastdev.sim_webui.webui.AxesWXYZs

fastdev.sim_webui.webui.AxesWXYZsLike

class fastdev.sim_webui.webui.ViserAsset

viser_asset_id: str

viser_asset_type: Literal['trimesh', 'point_cloud', 'axes']

color: Color | None = None

scale: float = 1.0

trimesh_mesh: trimesh.Trimesh | None = None

points: Vertices | None = None

point_size: float = 0.02

axes_positions: AxesPositions | None = None

axes_wxyzs: AxesWXYZs | None = None

axes_length: float = 0.1

axes_radius: float = 0.005

class fastdev.sim_webui.webui.ViserAssetState

asset_id: str

viser_asset_id: str

position: jaxtyping.Float[numpy.ndarray, 3]

wxyz: jaxtyping.Float[numpy.ndarray, 4]

class fastdev.sim_webui.webui.Asset

Bases: abc.ABC

Base asset class.

asset_id: str

class fastdev.sim_webui.webui.MeshAsset

Bases: Asset

Base asset class.

trimesh_mesh: trimesh.Trimesh

get_viser_asset(viser_asset_id: str) → ViserAsset

Parameters:

viser_asset_id (str)

Return type:

ViserAsset

get_or_create_asset_id(color: Color | None, scale: float, postfix: int = 0) → str

Parameters:

• color (Optional[Color])

• scale (float)

• postfix (int)

Return type:

str

class fastdev.sim_webui.webui.PointCloudAsset

Bases: Asset

Base asset class.

points: Vertices

get_viser_asset(viser_asset_id: str) → ViserAsset

Parameters:

viser_asset_id (str)

Return type:

ViserAsset

get_or_create_asset_id(color: Color | None, point_size: float) → str

Parameters:

• color (Optional[Color])

• point_size (float)

Return type:

str

class fastdev.sim_webui.webui.AxesAsset

Bases: Asset

Base asset class.

positions: AxesPositions

wxyzs: AxesWXYZs

get_viser_asset(viser_asset_id: str) → ViserAsset

Parameters:

viser_asset_id (str)

Return type:

ViserAsset

get_or_create_asset_id(axes_length: float, axes_radius: float) → str

Parameters:

• axes_length (float)

• axes_radius (float)

Return type:

str

class fastdev.sim_webui.webui.RobotAsset

Bases: Asset

Base asset class.

robot_model: fastdev.robo.articulation.Articulation

get_viser_asset(viser_asset_id: str) → ViserAsset

Parameters:

viser_asset_id (str)

Return type:

ViserAsset

get_or_create_asset_id(link_name: str, color: Color) → str

Parameters:

• link_name (str)

• color (Color)

Return type:

str

class fastdev.sim_webui.webui.AssetLibrary

Asset library for multiple assets.

add_robot_asset(urdf_or_mjcf_path: str | None = None, mesh_dir: str | None = None, articulation: fastdev.robo.articulation.Articulation | None = None) → str

Parameters:

• urdf_or_mjcf_path (Optional[str])

• mesh_dir (Optional[str])

• articulation (Optional[fastdev.robo.articulation.Articulation])

Return type:

str

add_mesh_asset(trimesh_mesh: trimesh.Trimesh, disable_cache: bool = False) → str

Parameters:

• trimesh_mesh (trimesh.Trimesh)

• disable_cache (bool)

Return type:

str

add_point_cloud_asset(points: Vertices) → str

Parameters:

points (Vertices)

Return type:

str

add_axes_asset(positions: AxesPositions, wxyzs: AxesWXYZs) → str

Parameters:

• positions (AxesPositions)

• wxyzs (AxesWXYZs)

Return type:

str

asset_exists(asset_id: str) → bool

Parameters:

asset_id (str)

Return type:

bool

get_asset(asset_id: str) → Asset

Parameters:

asset_id (str)

Return type:

Asset

get_viser_asset(asset_id: str, viser_asset_id: str) → ViserAsset

Parameters:

• asset_id (str)

• viser_asset_id (str)

Return type:

ViserAsset

static get_random_asset_id() → str

Return type:

str

fastdev.sim_webui.webui.ASSET_LIBRARY

fastdev.sim_webui.webui.to_wxyz(rot: AxesWXYZsLike | None) → jaxtyping.Float[numpy.ndarray, ... 4]

Parameters:

rot (Optional[AxesWXYZsLike])

Return type:

jaxtyping.Float[numpy.ndarray, … 4]

fastdev.sim_webui.webui.to_position_wxyz(pose: PosesLike | None) → Tuple[jaxtyping.Float[numpy.ndarray, ... 3], jaxtyping.Float[numpy.ndarray, ... 4]]

Parameters:

pose (Optional[PosesLike])

Return type:

Tuple[jaxtyping.Float[numpy.ndarray, … 3], jaxtyping.Float[numpy.ndarray, … 4]]

fastdev.sim_webui.webui.get_random_color(r: Tuple[int, int] = (51, 180), g: Tuple[int, int] = (102, 204), b: Tuple[int, int] = (0, 102)) → Color

Parameters:

• r (Tuple[int, int])

• g (Tuple[int, int])

• b (Tuple[int, int])

Return type:

Color

fastdev.sim_webui.webui.to_color_array(color: None) → None

fastdev.sim_webui.webui.to_color_array(color: ColorLike) → Color

class fastdev.sim_webui.webui.AssetState

Bases: abc.ABC

Asset state for multiple frames.

asset_id: str

property num_frames: int

Abstractmethod:

Return type:

int

abstractmethod get_frame_viser_asset_states(frame_index: int) → List[ViserAssetState]

Parameters:

frame_index (int)

Return type:

List[ViserAssetState]

class fastdev.sim_webui.webui.MeshState

Bases: AssetState

Asset state for multiple frames.

poses: Poses | None = None

color: Color | None = None

scale: float = 1.0

property frame_range: Tuple[int, int]

Return type:

Tuple[int, int]

property num_frames: int

Return type:

int

get_frame_viser_asset_states(frame_index: int) → List[ViserAssetState]

Parameters:

frame_index (int)

Return type:

List[ViserAssetState]

class fastdev.sim_webui.webui.PointCloudState

Bases: AssetState

Asset state for multiple frames.

poses: Poses | None = None

color: Color | None = None

point_size: float = 0.02

property frame_range: Tuple[int, int]

Return type:

Tuple[int, int]

property num_frames: int

Return type:

int

get_frame_viser_asset_states(frame_index: int) → List[ViserAssetState]

Parameters:

frame_index (int)

Return type:

List[ViserAssetState]

class fastdev.sim_webui.webui.AxesState

Bases: AssetState

Asset state for multiple frames.

poses: Poses | None = None

axes_length: float = 0.1

axes_radius: float = 0.005

property num_frames: int

Return type:

int

get_frame_viser_asset_states(frame_index: int) → List[ViserAssetState]

Parameters:

frame_index (int)

Return type:

List[ViserAssetState]

class fastdev.sim_webui.webui.RobotState

Bases: AssetState

Asset state for multiple frames.

joint_values: JointValues | None = None

root_poses: Poses | None = None

color: Color

property num_frames: int

Return type:

int

get_frame_viser_asset_states(frame_index: int) → List[ViserAssetState]

Parameters:

frame_index (int)

Return type:

List[ViserAssetState]

class fastdev.sim_webui.webui.SceneState

Scene state for multiple assets and frames.

set_robot_state(asset_id: str, joint_values: JointValues | None = None, root_poses: Poses | None = None, color: Color = _DEFAULT_ROBOT_COLOR)

Parameters:

• asset_id (str)

• joint_values (Optional[JointValues])

• root_poses (Optional[Poses])

• color (Color)

set_mesh_state(asset_id: str, poses: Poses | None = None, scale: float = 1.0, color: Color | None = None, frame_range: Tuple[int, int] | None = None)

Parameters:

• asset_id (str)

• poses (Optional[Poses])

• scale (float)

• color (Optional[Color])

• frame_range (Optional[Tuple[int, int]])

set_point_cloud_state(asset_id: str, poses: Poses | None = None, point_size: float = 0.02, color: Color | None = None, frame_range: Tuple[int, int] | None = None)

Parameters:

• asset_id (str)

• poses (Optional[Poses])

• point_size (float)

• color (Optional[Color])

• frame_range (Optional[Tuple[int, int]])

set_axes_state(asset_id: str, poses: Poses | None = None, axes_length: float = 0.1, axes_radius: float = 0.005)

Parameters:

• asset_id (str)

• poses (Optional[Poses])

• axes_length (float)

• axes_radius (float)

property num_frames: int

Return type:

int

property last_updated: float

Return type:

float

get_frame_viser_asset_states(frame_index: int) → List[ViserAssetState]

Parameters:

frame_index (int)

Return type:

List[ViserAssetState]

__repr__() → str

Return type:

str

__str__() → str

Return type:

str

class fastdev.sim_webui.webui.StateManager

State manager for multiple scenes.

set_robot_state(asset_id: str, scene_index: int, joint_values: JointValues | None = None, root_poses: Poses | None = None, color: Color = _DEFAULT_ROBOT_COLOR)

Parameters:

• asset_id (str)

• scene_index (int)

• joint_values (Optional[JointValues])

• root_poses (Optional[Poses])

• color (Color)

set_mesh_state(asset_id: str, scene_index: int, poses: Poses | None = None, scale: float = 1.0, color: Color | None = None, frame_range: Tuple[int, int] | None = None)

Parameters:

• asset_id (str)

• scene_index (int)

• poses (Optional[Poses])

• scale (float)

• color (Optional[Color])

• frame_range (Optional[Tuple[int, int]])

set_point_cloud_state(asset_id: str, scene_index: int, poses: Poses | None = None, point_size: float = 1.0, color: Color | None = None, frame_range: Tuple[int, int] | None = None)

Parameters:

• asset_id (str)

• scene_index (int)

• poses (Optional[Poses])

• point_size (float)

• color (Optional[Color])

• frame_range (Optional[Tuple[int, int]])

set_axes_state(asset_id: str, scene_index: int, poses: Poses | None = None, axes_length: float = 0.1, axes_radius: float = 0.005)

Parameters:

• asset_id (str)

• scene_index (int)

• poses (Optional[Poses])

• axes_length (float)

• axes_radius (float)

get_scene_num_frames(scene_index: int) → int

Parameters:

scene_index (int)

Return type:

int

get_scene_last_updated(scene_index: int) → float

Parameters:

scene_index (int)

Return type:

float

get_frame_viser_asset_states(scene_index: int, frame_index: int) → List[ViserAssetState]

Parameters:

• scene_index (int)

• frame_index (int)

Return type:

List[ViserAssetState]

property num_scenes: int

Return type:

int

validate_scene_index(scene_index: int) → bool

Validate the scene index.

Valid scene index should be in the range [0, num_scenes], including both ends. When the scene index equals to num_scenes, it means the scene is the new scene to be added.

Parameters:

scene_index (int) – Scene index.

Return type:

bool

reset()

__getitem__(scene_index: int) → SceneState

Parameters:

scene_index (int)

Return type:

SceneState

__repr__() → str

Return type:

str

__str__() → str

Return type:

str

fastdev.sim_webui.webui.IS_PLAYING_EVENT

class fastdev.sim_webui.webui.ViserHelper(state_manager: StateManager, host: str = 'localhost', port: int = 8080, enable_geometry_option: bool = False)

Helper class for Viser server.

Parameters:

• state_manager (StateManager)

• host (str)

• port (int)

• enable_geometry_option (bool)

update_server(*args, **kwargs)

Update the Viser server.

reset()

class fastdev.sim_webui.webui.SimWebUI(host: str = 'localhost', port: int = 8080, enable_geometry_option: bool = False)

WebUI for simulator and 3D scene visualization.

Parameters:

• host (str)

• port (int)

• enable_geometry_option (bool)

__repr__() → str

Return type:

str

__str__() → str

Return type:

str

property scene_index: int

Return type:

int

set_scene_index(value: int)

Parameters:

value (int)

add_robot_asset(urdf_or_mjcf_path: str | pathlib.Path | None = None, mesh_dir: str | pathlib.Path | None = None, articulation: fastdev.robo.articulation.Articulation | None = None) → str

Add a robot asset to the asset library.

Parameters:

• urdf_or_mjcf_path (Union[str, Path]) – Path to the URDF or MJCF file of the robot.

• mesh_dir (Optional[Union[str, Path]], optional) – Directory path of the robot meshes. Will use the directory of the URDF/MJCF file if not provided. Defaults to None.

• articulation (Optional[fastdev.robo.articulation.Articulation])

Returns:

Asset ID of the robot asset.

Return type:

str

add_mesh_asset(vertices: VerticesLike | None = None, faces: FacesLike | None = None, trimesh_mesh: trimesh.Trimesh | None = None, mesh_path: str | pathlib.Path | None = None, disable_cache: bool = False) → str

Add a mesh asset to the asset library.

Parameters:

• vertices (Optional[VerticesLike], optional) – Vertices of the mesh. Defaults to None.

• faces (Optional[FacesLike], optional) – Faces of the mesh. Defaults to None.

• trimesh_mesh (Optional[trimesh.Trimesh], optional) – Trimesh mesh object. Defaults to None.

• mesh_path (Optional[Union[str, Path]], optional) – Path to the mesh file. Defaults to None.

• disable_cache (bool)

Returns:

Asset ID of the mesh asset.

Return type:

str

Note

Either trimesh_mesh or vertices and faces or mesh_path must be provided, but not both.

add_sphere_asset(radius: ScaleLike, subdivisions: int = 3, disable_cache: bool = False) → str

Add a single sphere asset to the asset library.

Parameters:

• radius (float) – Radius of the sphere.

• subdivisions (int, optional) – Number of subdivisions. Defaults to 3.

• disable_cache (bool)

Returns:

Asset ID of the sphere asset.

Return type:

str

add_point_cloud_asset(points: VerticesLike) → str

Add a point cloud asset to the asset library.

Parameters:

points (VerticesLike) – Points of the point cloud.

Returns:

Asset ID of the point cloud asset.

Return type:

str

add_axes_asset(positions: AxesPositionsLike, rotations: AxesWXYZsLike) → str

Add an axes asset to the asset library.

Parameters:

• positions (AxesPositionLike) – Positions of the axes.

• rotations (AxesWXYZsLike) – Rotations of the axes, could be in rotation matrices or wxyz quaternions.

Returns:

Asset ID of the axes asset.

Return type:

str

set_robot_state(asset_id: str, scene_index: int | None = None, joint_values: JointValuesLike | None = None, root_poses: PosesLike | None = None, color: ColorLike = 'silver')

Set the state of a robot asset.

Parameters:

• asset_id (str) – Asset ID of the robot asset.

• joint_values (Optional[JointValuesT], optional) – Multi-frame (or single-frame) joint values. Defaults to None.

• root_poses (Optional[PosesT], optional) – Multi-frame (or single-frame) root poses. Defaults to None.

• scene_index (Optional[int], optional) – Scene index. Defaults to None.

• color (ColorLike)

Note

The number of frames of the asset state is determined by the number of joint values provided.

set_mesh_state(asset_id: str, scene_index: int | None = None, poses: PosesLike | None = None, scale: ScaleLike = 1.0, color: ColorLike | None = None, frame_range: int | Tuple[int, int] | None = None)

Set the state of a mesh asset.

Parameters:

• asset_id (str) – Asset ID of the mesh asset.

• scene_index (Optional[int], optional) – Scene index. Defaults to None.

• poses (Optional[PosesLike], optional) – Multi-frame (or single-frame) poses. Defaults to None.

• scale (ScaleLike, optional) – Scale factor. Defaults to 1.0.

• color (ColorLike, optional) – Color of the mesh, use random color if not provided. Defaults to None.

• frame_range (Optional[Union[int, Tuple[int, int]]])

Note

The number of frames of the asset state is determined by the number of poses provided.

set_sphere_state(asset_id: str, scene_index: int | None = None, poses: PosesLike | None = None, scale: ScaleLike = 1.0, color: ColorLike | None = None, frame_range: int | Tuple[int, int] | None = None)

Set the state of a sphere asset.

Parameters:

• asset_id (str) – Asset ID of the sphere asset.

• scene_index (Optional[int], optional) – Scene index. Defaults to None.

• poses (Optional[PosesLike], optional) – Multi-frame (or single-frame) poses. Defaults to None.

• scale (ScaleLike, optional) – Scale factor. Defaults to 1.0.

• color (Optional[ColorLike], optional) – Color of the sphere. Defaults to None.

• frame_range (Optional[Union[int, Tuple[int, int]]])

Note

The number of frames of the asset state is determined by the number of poses provided.

set_point_cloud_state(asset_id: str, scene_index: int | None = None, poses: PosesLike | None = None, point_size: ScaleLike = 0.02, color: ColorLike | None = None, frame_range: int | Tuple[int, int] | None = None)

Set the state of a point cloud asset.

Parameters:

• asset_id (str) – Asset ID of the point cloud asset.

• scene_index (Optional[int], optional) – Scene index. Defaults to None.

• poses (Optional[PosesLike], optional) – Multi-frame (or single-frame) poses. Defaults to None.

• scale (ScaleLike, optional) – Scale factor. Defaults to 1.0.

• color (Optional[ColorLike], optional) – Color of the point cloud. Defaults to None.

• point_size (ScaleLike)

• frame_range (Optional[Union[int, Tuple[int, int]]])

Note

The number of frames of the asset state is determined by the number of poses provided.

set_axes_state(asset_id: str, scene_index: int | None = None, axes_length: ScaleLike = 0.1, axes_radius: ScaleLike = 0.005, poses: PosesLike | None = None)

Set the state of a point cloud asset.

Parameters:

• asset_id (str) – Asset ID of the point cloud asset.

• scene_index (Optional[int], optional) – Scene index. Defaults to None.

• axes_length (ScaleLike, optional) – Length of the axes. Defaults to 0.1.

• axes_radius (ScaleLike, optional) – Radius of the axes. Defaults to 0.005.

• poses (Optional[PosesLike], optional) – Multi-frame (or single-frame) poses. Defaults to None.

Note

The number of frames of the asset state is determined by the number of poses provided.

reset()

Reset the state manager and Viser server.