Extras#

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]#
Parameters:

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:

int

get_frame(index: int) → Record3dFrame[source]#
Parameters:

index (int) –

Return type:

Record3dFrame

class viser.extras.ViserUrdf[source]#

Helper for rendering URDFs in Viser.

update_cfg(configuration: ndarray) → None[source]#

Update the joint angles of the visualized URDF.

Parameters:

configuration (ndarray) –

Return type:

None

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, …]