README

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Vuer: Modern High-Performance Visualization for AI & Robotics in VR

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pip install vuer   ⬝   visit  https://docs.vuer.ai  for documentation

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Vuer is a light-weight visualization toolkit for interacting with
dynamic 3D and robotics data. It is VR and AR ready, and can be run on
mobile devices.

Our features include:

-  light-weight and performant
-  VR and AR ready
-  Hackable and extensible
-  Open source, licensed under MIT

Installation
============

You can install ``vuer`` with ``pip``:

.. code-block:: shell

   pip install -U 'vuer[all]'

Here is an example that loads a URDF file and displays it in the
browser. For a more comprehensive list of examples, please refer to the
`examples <https://docs.vuer.ai/en/latest/examples/01_trimesh.html>`__
page.

.. code-block:: python

   from vuer import Vuer, VuerSession
   from vuer.schemas import DefaultScene, Urdf

   app = Vuer()


   @app.spawn(start=True)
   async def main(session: VuerSession):
       app.set @ DefaultScene(
           Urdf("assets/urdf/robotiq.urdf"),
       )

       while True:
           await session.sleep(0.1)

|Click for Live Demo|

To get a quick overview of what you can do with ``vuer``, check out the
following:

-  take a look at the example gallery
   `here <https://docs.vuer.ai/en/latest/examples/01_trimesh.html>`__
-  or try to take a look at this demo with a Unitree Go1 robot in front
   of a flight of stairs
   `here <https://docs.vuer.ai/en/latest/tutorials/robotics/urdf_go1_stairs.html>`__

For a comprehensive list of visualization components, please refer to
the `API documentation on
Components <https://docs.vuer.ai/en/latest/api/vuer.html>`__.

For a comprehensive list of data types, please refer to the `API
documentation on Data
Types <https://docs.vuer.ai/en/latest/api/types.html>`__.

Now, to run the examples, first download the example datasets.

Each subdirectory in the ``assets`` directory contains a ``Makefile``.
Run the ``make`` command in each subdirectory to download the datasets.
For example:

.. code-block:: bash

   cd assets/static_3d
   make

Then run the examples

.. code-block:: bash

   cd vuer/examples/vuer
   python 01_trimesh.py

Contributing to Documentation and Features
==========================================

Documentation is a crucial part of the ``vuer`` ecosystem. To contribute
to documentation and usage examples, simply:

.. code-block:: bash

   pip install -e '.[all]'
   make docs

This should fire up an http server at the port ``8888``, and you can
view the documentation at ``http://localhost:8888``.

To Cite
=======

.. code-block:: bibtex

   @software{vuer,
     author = {Ge Yang},
     title = {{VUER}: A 3D Visualization and Data Collection Environment for Robot Learning},
     version = {},
     publisher = {GitHub},
     url = {https://github.com/vuer-ai/vuer},
     year = {2024}
   }

About Us
========

Vuer is built by researchers at MIT and UCSD in fields including
robotics, computer vision, and computer graphics.

.. |Click for Live Demo| image:: https://github.com/geyang/vuer/blob/master/assets/curiosity.png?raw=true
   :target: https://vuer.ai?collapseMenu=True&background=131416,fff&initCamPos=2.8,2.2,2.5&ws=ws%3A%2F%2Flocalhost%3A8012&scene=3gAJqGNoaWxkcmVukd4ABKhjaGlsZHJlbpHeAAaoY2hpbGRyZW6Qo3RhZ6RVcmRmo2tleaExo3NyY9lSaHR0cHM6Ly9yYXcuZ2l0aHVidXNlcmNvbnRlbnQuY29tL25hc2EtanBsL20yMDIwLXVyZGYtbW9kZWxzL21haW4vcm92ZXIvbTIwMjAudXJkZqtqb2ludFZhbHVlc94AAKhyb3RhdGlvbpPLQAkeuGAAAAAAAKN0YWenTW92YWJsZaNrZXmhMqhwb3NpdGlvbpMAAMs%2FwzMzQAAAAKN0YWelU2NlbmWja2V5oTOidXCTAAABpGdyaWTDqHNob3dMZXZhwqtyYXdDaGlsZHJlbpLeAASoY2hpbGRyZW6Qo3RhZ6xBbWJpZW50TGlnaHSja2V5tWRlZmF1bHRfYW1iaWVudF9saWdodKlpbnRlbnNpdHkB3gAFqGNoaWxkcmVukKN0YWewRGlyZWN0aW9uYWxMaWdodKNrZXm5ZGVmYXVsdF9kaXJlY3Rpb25hbF9saWdodKlpbnRlbnNpdHkBpmhlbHBlcsOsaHRtbENoaWxkcmVukLJiYWNrZ3JvdW5kQ2hpbGRyZW6Q%22