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chore: fix style of viser examples to match yapf #83

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Merged
claytonwramsey merged 1 commit into from
Dec 17, 2025
Merged

chore: fix style of viser examples to match yapf #83

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24 changes: 12 additions & 12 deletions scripts/viser_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,10 +11,10 @@ def setup_viser_with_robot(robot_dir, robot_urdf_name):
robot = ViserUrdf(
server,
urdf,
load_meshes=True,
load_collision_meshes=False,
root_node_name="/robot",
)
load_meshes = True,
load_collision_meshes = False,
root_node_name = "/robot",
)

return server, robot

Expand All @@ -25,7 +25,7 @@ def add_spheres(
sphere_radii: Sequence,
colors: Union[Sequence[int], Sequence[Sequence[int]]] = [],
prefix: str = "my_sphere",
):
):
"""
Add spheres to the env/
Sphere positions are (N,3) and sphere radii are (N)
Expand All @@ -39,11 +39,11 @@ def add_spheres(
assert len(colors) == len(sphere_positions)
for i, (sphere_pos, sphere_rad) in enumerate(zip(sphere_positions, sphere_radii)):
sphere_handles[i] = server.scene.add_icosphere(
name=f"{prefix}_{i}",
radius=sphere_rad,
position=tuple(sphere_pos[:3]),
color=tuple(colors[i]),
)
name = f"{prefix}_{i}",
radius = sphere_rad,
position = tuple(sphere_pos[:3]),
color = tuple(colors[i]),
)
return sphere_handles


Expand All @@ -67,8 +67,8 @@ def add_trajectory(server, waypoints, robot, attachment_handles, attachment_posi
return
assert len(attachment_handles) == len(attachment_positions[0])
traj_slider = server.gui.add_slider(
"Current Waypoint", min=0, max=len(waypoints) - 1, step=1, initial_value=0
)
"Current Waypoint", min = 0, max = len(waypoints) - 1, step = 1, initial_value = 0
)

@traj_slider.on_update
def update_robot_pose(event):
Expand Down
21 changes: 8 additions & 13 deletions scripts/visualize_viser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,14 +7,12 @@
import vamp
from fire import Fire


# Starting configuration
a = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]

# Goal configuration
b = [2.35, 1.0, 0.0, -0.8, 0, 2.5, 0.785]


# Problem specification: a list of sphere centers
problem = [
[0.55, 0, 0.25],
Expand All @@ -31,7 +29,7 @@
[-0.35, -0.35, 0.8],
[0, -0.55, 0.8],
[0.35, -0.35, 0.8],
]
]


def main(
Expand All @@ -40,11 +38,10 @@ def main(
attachment_offset: float = 0.02,
planner: str = "rrtc",
**kwargs,
):
):

(vamp_module, planner_func, plan_settings, simp_settings) = (
vamp.configure_robot_and_planner_with_kwargs("panda", planner, **kwargs)
)
(vamp_module, planner_func, plan_settings,
simp_settings) = (vamp.configure_robot_and_planner_with_kwargs("panda", planner, **kwargs))

# Create an attachment offset on the Z-axis from the end-effector frame
tf = np.identity(4)
Expand All @@ -64,14 +61,14 @@ def main(

_problem_sphere_handles = add_spheres(
server, np.array(problem), np.array([obstacle_radius] * len(problem))
)
)

# Add the attchment to the VAMP environment
e.attach(attachment)
# Add attachment sphere to visualization
attachment_sph = add_spheres(
server, np.zeros((1, 3)), np.array([attachment_radius]), colors=[[0, 255, 0]]
)
server, np.zeros((1, 3)), np.array([attachment_radius]), colors = [[0, 255, 0]]
)

# Update attachment sphere positions corresponding to the waypoints.
# this could also be made into a callable that can be called during trajectory viz
Expand All @@ -87,9 +84,7 @@ def get_attachment_pos(configuration):

attachment_positions = [get_attachment_pos(pos) for pos in simple.path.numpy()]

add_trajectory(
server, simple.path.numpy(), robot, attachment_sph, attachment_positions
)
add_trajectory(server, simple.path.numpy(), robot, attachment_sph, attachment_positions)

# display
while True:
Expand Down