Record3D + URDF Helpers#

Extra utilities. Used for example scripts.

class viser.extras.Record3dFrame[source]#

A single frame from a Record3D capture.

K: ndarray[Any, dtype[float32]]#
rgb: ndarray[Any, dtype[uint8]]#
depth: ndarray[Any, dtype[float32]]#
mask: ndarray[Any, dtype[bool]]#
T_world_camera: ndarray[Any, dtype[float32]]#
get_point_cloud(downsample_factor: int = 1) Tuple[ndarray[Any, dtype[float32]], ndarray[Any, dtype[uint8]]][source]#

downsample_factor (int) –

Return type:

Tuple[ndarray[Any, dtype[float32]], ndarray[Any, dtype[uint8]]]

class viser.extras.Record3dLoader[source]#

Helper for loading frames for Record3D captures.

num_frames() int[source]#
Return type:


get_frame(index: int) Record3dFrame[source]#

index (int) –

Return type:


class viser.extras.ViserUrdf[source]#

Helper for rendering URDFs in Viser.

  • target – ViserServer or ClientHandle object to add URDF to.

  • urdf_or_path – Either a path to a URDF file or a yourdfpy URDF object.

  • scale – Scale factor to apply to resize the URDF.

  • root_node_name – Viser scene tree name for the root of the URDF geometry.

  • mesh_color_override – Optional color to override the URDF’s mesh colors.

update_cfg(configuration: ndarray) None[source]#

Update the joint angles of the visualized URDF.


configuration (ndarray) –

Return type:


get_actuated_joint_limits() dict[str, tuple[float | None, float | None]][source]#

Returns an ordered mapping from actuated joint names to position limits.

Return type:

dict[str, tuple[float | None, float | None]]

get_actuated_joint_names() Tuple[str, ...][source]#

Returns a tuple of actuated joint names, in order.

Return type:

Tuple[str, …]