threejs-viewer 0.0.16

Lightweight Three.js viewer controlled from Python via WebSocket

threejs-viewer

Lightweight Three.js viewer controlled from Python via WebSocket.

A Python client runs a WebSocket server that a browser-based Three.js viewer connects to. Designed for robotics visualization, scientific computing, and interactive 3D exploration.

Features

• Simple API: Add primitives, load models, update transforms
• PBR materials: Roughness, metalness, transparency and environment reflections on all objects
• GLB/PBR support: Load GLB models with PBR materials, embedded skeletal/morph animations
• Animation support: Pre-compute animations, scrub timeline, adjust playback speed
• Binary channels: Efficient transfer of large animations (100k+ objects × frames)
• Bead meshes: Extruded toolpath visualization with per-layer colors and draw_range animation
• Auto-reconnect: Browser reconnects automatically, animations persist
• Z-up coordinates: Robotics convention (matches ROS, URDF)
• No build step: Self-contained HTML viewer, just open in browser

Installation

pip install threejs-viewer

Quick Start

from threejs_viewer import viewer

# Start server and wait for browser to connect
v = viewer()

# Add objects
v.add_sphere("ball", radius=0.3, color=0xFF0000, position=[0, 0, 0.5])
v.add_box("ground", width=5, height=5, depth=0.1, color=0x444444)

# Keep running
input("Press Enter to exit")

The viewer opens automatically in your default browser. To open it manually:

threejs-viewer open
# Or: threejs-viewer path  (prints path to viewer.html)

Usage

Objects

from threejs_viewer import Toolpath, viewer

# Primitives with PBR materials
v.add_box("box1", width=1, height=2, depth=0.5, color=0x4A90D9, roughness=0.5, metalness=0.1)
v.add_sphere("ball", radius=0.5, position=[2, 0, 0], roughness=0.3, metalness=0.7)
v.add_cylinder("cyl1", radius_top=0.3, radius_bottom=0.5, height=1)

# 3D models (binary transfer)
v.add_model_binary("robot", "robot.stl", format="stl")

# Polylines with colormaps
v.add_polyline("path", points, colors=z_values, colormap="viridis", line_width=3)

# Bead mesh (extruded toolpath)
tp = Toolpath.from_points(points, bead_width=0.3, bead_height=0.08)
tp.colorize(per_point_rgb)
v.add_mesh("bead", **tp.to_mesh())

# Transparency
v.set_opacity("box1", 0.5)
v.set_color("ball", 0xFF0000, opacity=0.3)

Transforms

# Single object
v.set_matrix("box1", matrix_4x4.flatten().tolist())

# Batch update (efficient for 60fps)
v.batch_update({
    "link1": {"position": [1, 2, 0.5]},
    "link2": {"position": [3, 0, 1], "rotation": [0, 0, 1.57]},
})

Animations

from threejs_viewer import Animation

animation = Animation(loop=True)
for t in times:
    animation.add_frame(
        time=t,
        transforms=compute_transforms(t),
        colors={"robot": 0xFF0000 if collision else 0x00FF00},
        clip_times={"glb_model": t},  # drive embedded GLTF animations
    )
animation.add_marker(3.5, "Collision detected")

client.load_animation(animation)

Viewer controls: Space (play/pause), Arrow keys (step frames), 1-5 (speed), L (loop)

Binary Channels (Large Animations)

For animations with many objects or frames, use binary channels instead of Frame dicts for much faster serialization and transfer:

import numpy as np
from threejs_viewer import Animation

animation = Animation(loop=True)
animation.set_frame_times(np.arange(n_frames) / 60.0)

# Transforms: (n_frames, n_objects, 16) float32
animation.set_transform_data(object_ids, transform_array)

# Draw ranges: (n_frames, n_objects) float32
animation.set_draw_range_data(object_ids, draw_range_array)

# Clip times for embedded GLTF animations: (n_frames, n_objects) float32
animation.set_clip_time_data(object_ids, clip_time_array)

# Colors with indexed colormap: (n_frames, n_objects) uint8
animation.add_channel("colors", object_ids, color_indices, dtype="uint8",
                       metadata={"colormap": [0x44AA44, 0xFF3333]})

# Visibility: (n_frames, n_objects) uint8 (0=hidden, 1=visible)
animation.add_channel("visibility", object_ids, vis_data, dtype="uint8")

client.load_animation(animation)

Binary channels and Frame-based JSON can be mixed. A binary channel supersedes the same-named Frame field.

GLB Models with Embedded Animations

# Load a GLB with embedded animations (skeletal, morph targets)
client.add_model_binary("fox", "fox.glb", format="glb")

# Seek embedded animation to a specific time (seconds)
client.set_clip_time("fox", 1.5)

Documentation

• DESIGN.md - Architecture and protocol details
• examples/ - Runnable demo scripts

CLI

threejs-viewer path    # Print path to viewer.html
threejs-viewer open    # Open in default browser
threejs-viewer code    # Open in VS Code (use "Show Preview" for docked view)

License

MIT