.. Comment: this file is automatically generated by `update_example_docs.py`.
   It should not be modified manually.

Robot URDF visualizer
==========================================


Requires yourdfpy and robot_descriptions. Any URDF supported by yourdfpy should work.


* https://github.com/robot-descriptions/robot_descriptions.py
* https://github.com/clemense/yourdfpy

The :class:`viser.extras.ViserUrdf` is a lightweight interface between yourdfpy
and viser. It can also take a path to a local URDF file as input.



.. code-block:: python
        :linenos:


        from __future__ import annotations

        import time
        from typing import Literal

        import numpy as np
        import tyro
        from robot_descriptions.loaders.yourdfpy import load_robot_description

        import viser
        from viser.extras import ViserUrdf


        def create_robot_control_sliders(
            server: viser.ViserServer, viser_urdf: ViserUrdf
        ) -> tuple[list[viser.GuiInputHandle[float]], list[float]]:
            """Create slider for each joint of the robot. We also update robot model
            when slider moves."""
            slider_handles: list[viser.GuiInputHandle[float]] = []
            initial_config: list[float] = []
            for joint_name, (
                lower,
                upper,
            ) in viser_urdf.get_actuated_joint_limits().items():
                lower = lower if lower is not None else -np.pi
                upper = upper if upper is not None else np.pi
                initial_pos = 0.0 if lower < 0 and upper > 0 else (lower + upper) / 2.0
                slider = server.gui.add_slider(
                    label=joint_name,
                    min=lower,
                    max=upper,
                    step=1e-3,
                    initial_value=initial_pos,
                )
                slider.on_update(  # When sliders move, we update the URDF configuration.
                    lambda _: viser_urdf.update_cfg(
                        np.array([slider.value for slider in slider_handles])
                    )
                )
                slider_handles.append(slider)
                initial_config.append(initial_pos)
            return slider_handles, initial_config


        def main(
            robot_type: Literal[
                "panda",
                "ur10",
                "cassie",
                "allegro_hand",
                "barrett_hand",
                "robotiq_2f85",
                "atlas_drc",
                "g1",
                "h1",
                "anymal_c",
                "go2",
            ] = "panda",
        ) -> None:
            # Start viser server.
            server = viser.ViserServer()

            # Load URDF.
            #
            # This takes either a yourdfpy.URDF object or a path to a .urdf file.
            viser_urdf = ViserUrdf(
                server,
                urdf_or_path=load_robot_description(robot_type + "_description"),
            )

            # Create sliders in GUI that help us move the robot joints.
            with server.gui.add_folder("Joint position control"):
                (slider_handles, initial_config) = create_robot_control_sliders(
                    server, viser_urdf
                )

            # Set initial robot configuration.
            viser_urdf.update_cfg(np.array(initial_config))

            # Create joint reset button.
            reset_button = server.gui.add_button("Reset")

            @reset_button.on_click
            def _(_):
                for s, init_q in zip(slider_handles, initial_config):
                    s.value = init_q

            # Sleep forever.
            while True:
                time.sleep(10.0)


        if __name__ == "__main__":
            tyro.cli(main)