Vuer Examples

Animation Loop

@app.spawn(start=True) async def main(session: VuerSession): session.set @ DefaultScene() t = 0 while True: t += 0.05 session.upsert @ Box(key="box", position=[np.sin(t), 0.5, np.cos(t)], rotation=[0, t, 0]) await asyncio.sleep(0.016)

URDF Robot

session.set @ DefaultScene( Urdf(key="robot", src="/static/panda.urdf", jointValues={"panda_joint1": 0, "panda_joint2": -0.5, "panda_joint4": -2.0}) )

Point Cloud

vertices = np.random.randn(10000, 3).astype(np.float16) * 2 colors = (np.random.rand(10000, 3) * 255).astype(np.uint8) session.set @ DefaultScene(PointCloud(key="pcd", vertices=vertices, colors=colors, size=0.02))

Interactive Movable

session.set @ DefaultScene(Movable(key="m", children=[Box(key="box", color="green")]))

@app.add_handler("OBJECT_MOVE") async def on_move(event, session): print(event.value)

Batch Updates

while True: session.upsert @ [Box(key=f"box-{i}", position=pos) for i, pos in enumerate(positions)] await asyncio.sleep(0.016)

Frame Capture

await asyncio.sleep(1) render = await session.grab_render(quality=0.9) render.value.save("screenshot.png")

Hierarchical Scene

session.set @ DefaultScene( group(key="arm", children=[ Box(key="base", args=[0.5, 0.1, 0.5]), group(key="link1", position=[0, 0.1, 0], children=[ Cylinder(key="j1", args=[0.05, 0.05, 0.3]), group(key="link2", position=[0, 0.3, 0], children=[...]) ]) ]) )