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‎.editorconfig‎

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# EditorConfig is awesome: http://EditorConfig.org
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# top-most EditorConfig file
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root = true
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# Unix-style newlines with a newline ending every file
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[*]
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end_of_line = lf
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insert_final_newline = true
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trim_trailing_whitespace = true
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charset = utf-8
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# 4 space indentation
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[*.{py,java,r,R}]
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indent_style = space
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indent_size = 4
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# 2 space indentation
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[*.{js, json, yml, html, cwl, yaml}]
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indent_style = space
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indent_size = 2
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[*.{md,Rmd,rst}]
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trim_trailing_whitespace = false
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indent_style = space
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indent_size = 2

‎.gitignore‎

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# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the MIT License [see LICENSE for details].
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*.swp
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*.pyc
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*.py~
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*.bak
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.pytest_cache
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.DS_Store
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.idea
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.vscode
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.coverage
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.coverage.*
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__pycache__/
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_build/
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*.npz
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*.ini
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*.pth
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.pytype/
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# Setuptools distribution and build folders.
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/dist/
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/build
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keys/
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*.sublime-project
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*.sublime-workspace
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.idea
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logs/
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.ipynb_checkpoints
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ghostdriver.log
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htmlcov
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junk
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*.egg-info
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.cache
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*.lprof
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*.prof
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# Experiment files
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example/isaacgym/runs
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example/isaacgym/cfg

‎.gitmodules‎

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[submodule "3rd_party/meshcat-python"]
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path = 3rd_party/meshcat-python
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url = https://github.com/yzqin/meshcat-python
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[submodule "example/isaacgym/IsaacGymEnvs"]
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path = example/isaacgym/IsaacGymEnvs
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url = https://github.com/NVIDIA-Omniverse/IsaacGymEnvs

‎3rd_party/meshcat-python‎

Submodule meshcat-python added at 148ae43

‎LICENSE‎

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MIT License
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Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md‎

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# Web-Based Visualizer for Simulation Environments
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| IsaacGym Simulator | ![](doc/isaacgymenv/allegro.png) | ![](doc/isaacgymenv/cabinet.png) | ![](doc/isaacgymenv/dog.png) | ![](doc/isaacgymenv/kuka.png) | ![](doc/isaacgymenv/trifinger.png) |
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|:--------------------:|:--------------------------------:|:--------------------------------:|:----------------------------:|:-----------------------------:|-----------------------------------:|
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| **SAPIEN Simulator** | ![](doc/maniskill/assembly.png) | ![](doc/maniskill/avoid.png) | ![](doc/maniskill/chair.png) | ![](doc/maniskill/insert.png) | ![](doc/maniskill/ycb.png) |
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| **Static URDF File** | ![](doc/urdf/chair.png) | ![](doc/urdf/drawer.png) | ![](doc/urdf/dj.png) | ![](doc/urdf/piano.png) | ![](doc/urdf/kuka_allegro.png) |
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This repository hosts a browser-based 3D viewer for physical simulators. It offers users the ability to observe
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simulations directly within their web browser, as an alternative to the default visualizer that comes with the
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simulator.
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The main feature of this repo is that you only need to modify a server lines of your code to port the
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visualization on the default simulator viewer to the web visualizer. This feature is especially useful for visualizing
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simulation on a headless server. For example, train and visualize the IsaacGym tasks
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inside [jupyter notebook](example/isaacgym/train_isaacgym_remote_server.ipynb) on a remote server.
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## Installation
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First install ZeroMQ libraries on your system:
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```shell
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apt install libzmq3-dev # For ubuntu
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brew install zmq # For Mac
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```
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```shell
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# git clone this repo
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cd sim-web-visualier && git submodule update --init --recursive
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pip install -e .
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```
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## Examples
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### IsaacGym Web Visualizer
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Check the [IsaacGym Example](example/isaacgym/README.md) for information on running the
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Web Visualizer on [IsaacGymEnvs](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs).
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![isaac](doc/isaac.gif)
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### SAPIEN Web Visualizer
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Check the [SAPIEN Example](example/sapien/README.md) for information on running the
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Web Visualizer on [ManiSkill2](https://github.com/haosulab/ManiSkill2).
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### URDF Web Visualizer
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Check the [URDF Example](example/visualize_urdf/README.md) for information to visualize a static URDF file on Web
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Visualizer.
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## Citing This Repo
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This repository is a part of the [AnyTeleop Project](anyteleop.com/). If you use this work, kindly reference it
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as:
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```shell
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@inproceedings{qin2023anyteleop,
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title = {AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System},
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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},
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booktitle = {Robotics: Science and Systems},
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year = {2023}
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}
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```
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## Acknowledgments
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This repository is developed upon the outstanding [MeshCat](https://github.com/rdeits/meshcat) project. We extend our
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appreciation to the developers and custodians of MeshCat.
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## License and Disclaimer
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Web-Based Visualizer for Simulation Environments is released under the [MIT License](LICENSE).

‎doc/isaac.gif‎

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‎doc/isaacgymenv/allegro.png‎

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‎doc/isaacgymenv/cabinet.png‎

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‎doc/isaacgymenv/dog.png‎

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