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This repository hosts a browser-based 3D viewer for physical simulators. It offers users the ability to observe simulations directly within their web browser, as an alternative to the default visualizer that comes with the simulator.
The main feature of this repo is that you only need to modify a server lines of your code to port the visualization on the default simulator viewer to the web visualizer. This feature is especially useful for visualizing simulation on a headless server. For example, train and visualize the IsaacGym tasks inside jupyter notebook on a remote server.
First install ZeroMQ libraries on your system:
apt install libzmq3-dev # For ubuntu
brew install zmq # For MacNote: this visualizer does not have a Python version requirement but IsaacGym requires Python 3.6, 3.7, or 3.8
git clone https://github.com/NVlabs/sim-web-visualizer
cd sim-web-visualizer && git submodule update --init --recursive
pip install -e .
Check the IsaacGym Example for information on running the Web Visualizer on IsaacGymEnvs.
Check the SAPIEN Example for information on running the Web Visualizer on ManiSkill2.
Check the URDF Example for information to visualize a static URDF file on Web Visualizer.
This repository is a part of the AnyTeleop Project. If you use this work, kindly reference it as:
@inproceedings{qin2023anyteleop,
title = {AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System},
author = {Qin, Yuzhe and Yang, Wei and Huang, Binghao and Van Wyk, Karl and Su, Hao and Wang, Xiaolong and Chao, Yu-Wei and Fox, Dieter},
booktitle = {Robotics: Science and Systems},
year = {2023}
}This repository is developed upon MeshCat. The URDF loader is adapted from yourdfpy. We extend our appreciation to the developers and custodians of these open sources projects.
Web-Based Visualizer for Simulation Environments is released under the MIT License.