Visualizing environment on remote machine
ankile opened this issue · 2 comments
Is there any recommended way of visualizing the environment and interactions on a remote machine? For example, would https://github.com/NVlabs/sim-web-visualizer/tree/main be a good solution, or do you have other preferred ways of going about this?
Let me know if the question is ill-posed; thank you!
We haven't attempted real-time visualization on the remote machine. Instead, we save trajectories as mp4 videos for later viewing. To save a trajectory, you can set the record flag to True (https://clvrai.github.io/furniture-bench/docs/tutorials/furniture_sim.html#furnituresim-configuration). For example, running this command python -m furniture_bench.scripts.run_sim_env --furniture one_leg --scripted --record --headless will save in-hand and front-view videos in the default directory (sim_record/).
Alternatively, you can visualize saved data from teleop or scripted agents using show_trajectory.py like this: python -m furniture_bench.scripts.show_trajectory --data-path /home/minho/furniture-bench/scripted_sim_demo/one_leg/<name_of_pkl> (reference: https://clvrai.github.io/furniture-bench/docs/tutorials/furniture_bench.html#visualize-robot-trajectory)
If you have any questions, feel free to ask!
Okay, that makes sense—thanks!
Saving recorded trajectories works well for now, and we'll let you know if we get the rig set up with sim-web-visualizer or something similar later. I am, however, not getting the recording to work. I've followed the installation instructions faithfully, I think, but all saved videos seem to be corrupt as my mp4 player refuses to open them. Is this the intended behavior, and does one have to use show_trajectory for the showing of the videos to work?