Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
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+# Viewers
+
+SPIDER supports multiple viewer backends for visualization during retargeting. This guide covers setting up and using different viewers, including remote development workflows.
+
+## Available Viewers
+
+SPIDER supports the following viewer configurations:
+
+| Viewer | Description | Use Case |
+|--------|-------------|----------|
+| `mujoco` | Native MuJoCo viewer | Fast local visualization |
+| `rerun` | Rerun.io viewer | Remote development, rich logging |
+| `viser` | Viser web viewer | Lightweight remote visualization |
+
+To enable both, try `mujoco-rerun` or `mujoco-viser` viewer.
+
+## Viser Viewer
+
+[Viser](https://github.com/nerfstudio-project/viser) provides a lightweight web-based viewer for 3D scenes.
+
+### Local Usage
+
+```bash
+uv run examples/run_mjwp.py viewer=viser
+```
+
+This will:
+1. Start a Viser server
+2. Log simulation data in real-time
+3. Print a URL to open in your browser
+
+::: warning
+If you run headless (no X display), you may need to set a display before launching:
+
+```bash
+export DISPLAY=:1
+# or
+export MUJOCO_GL=egl
+```
+:::
+
+::: info
+If you see an import error, install the dependency:
+
+```bash
+pip install viser
+```
+:::
+
+## Rerun Viewer
+
+[Rerun](https://rerun.io/) provides a powerful logging and visualization system with time-travel capabilities, perfect for remote development.
+
+### Local Usage
+
+```bash
+uv run examples/run_mjwp.py viewer=rerun
+```
+
+This will:
+1. Automatically spawn a Rerun viewer
+2. Log simulation data in real-time
+3. Display 3D visualization and metrics
+
+### Remote Development
+
+For headless servers, use Rerun's web viewer:
+
+#### Step 1: Start Rerun Server
+
+On your remote server:
+
+```bash
+# Start Rerun web server
+uv run rerun --serve-web --port 9876
+
+# Or use rerun datapoints for more features
+uv run rerun datapoints --serve-web --port 9876
+```
+
+#### Step 2: Run SPIDER
+
+In another terminal on the remote server:
+
+```bash
+uv run examples/run_mjwp.py viewer=rerun
+```
+
+#### Step 3: Connect from Local Machine
+
+Open your local browser to:
+
+```
+http://your-server:9876
+```
+
+Or connect via the Rerun client:
+
+```bash
+# On local machine
+rerun --connect rerun+http://your-server:9876/proxy
+```
+
+::: warning
+Make sure port 9876 is accessible through your firewall. You may need to configure SSH port forwarding:
+
+```bash
+ssh -L 9876:localhost:9876 user@remote-server
+```
+:::
+
+### Logged Data
+
+SPIDER logs the following data to Rerun:
+
+- 3D scene visualization (robot and objects)
+- Joint positions and velocities
+- Optimization metrics (improvement, reward)
+- Contact forces and positions
+- Trace trajectories