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