[update] more visualization for the notebook example

yzqin · yzqin · commit 02f8bcf74a31 · 2023-08-10T20:22:35.000-07:00
diff --git a/README.md b/README.md
@@ -23,10 +23,14 @@ apt install libzmq3-dev # For ubuntu
 brew install zmq # For Mac
 ```
 
+**Note:** this visualizer does not have a Python version requirement but
+IsaacGym requires Python 3.6, 3.7, or 3.8
+
 ```shell
-# git clone this repo
-cd sim-web-visualier && git submodule update --init --recursive
+git clone https://github.com/NVlabs/sim-web-visualizer
+cd sim-web-visualizer && git submodule update --init --recursive
 pip install -e .
+
 ```
 
 ## Examples
diff --git a/example/isaacgym/README.md b/example/isaacgym/README.md
@@ -13,7 +13,16 @@ pip install hydra-core gym==0.23.1 rl-games torch pyvirtualdisplay omegaconf jin
 
 #### Train and visualize IsaacGym in Jupyter Notebook
 
-[Jupyter Notebook Example](./train_isaacgym_remote_server.ipynb)
+```shell
+pip install jupyter
+# Launch Jupyter server
+jupyter notebook --ip 0.0.0.0
+
+```
+
+Follow the instruction in [Jupyter Notebook Example](./train_isaacgym_remote_server.ipynb)
+
+![notebook example](docs/notebook.gif)
 
 #### Visualize environment with random action agent
 
diff --git a/example/isaacgym/docs/notebook.gif b/example/isaacgym/docs/notebook.gif
diff --git a/example/isaacgym/docs/run_isaacgym_viz.gif b/example/isaacgym/docs/run_isaacgym_viz.gif
diff --git a/example/isaacgym/train_isaacgym_remote_server.ipynb b/example/isaacgym/train_isaacgym_remote_server.ipynb
@@ -8,8 +8,16 @@
    "source": [
     "# Run this cell only when you are troubled with the following error especially if you are using conda to manage python environment\n",
     "# `ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory\n",
+    "import os\n",
+    "from pathlib import Path\n",
     "from ctypes import cdll\n",
-    "lib1 = cdll.LoadLibrary('YOUR_CONDA_PATH/envs/YOUR_CONDA_ENV_NAME/lib/libpython3.8.so.1.0')\n"
+    "import sys\n",
+    "is_conda = 'CONDA_PREFIX' in os.environ or 'CONDA_DEFAULT_ENV' in os.environ\n",
+    "if is_conda:\n",
+    "    version_info = sys.version_info\n",
+    "    conda_lib_path = Path(sys.executable).parent.parent / f\"lib/libpython{version_info.major}.{version_info.minor}.so.1.0\"\n",
+    "    python_lib = cdll.LoadLibrary(str(conda_lib_path))\n",
+    "    print(f\"Load Python lib {conda_lib_path}\")\n"
    ]
   },
   {
@@ -19,7 +27,6 @@
    "outputs": [],
    "source": [
     "import os\n",
-    "import sys\n",
     "from datetime import datetime\n",
     "import numpy as np\n",
     "\n",
@@ -73,7 +80,7 @@
     "vec_task.VecTask.create_sim = wrapped_create_sim\n",
     "\n",
     "# Create web visualizer\n",
-    "web_visualizer = create_isaac_visualizer(port=6000, host=\"localhost\", keep_default_viewer=False, max_env=4, scene_offset=np.array([10.0, 10.0]))\n",
+    "web_visualizer = create_isaac_visualizer(port=6000, host=\"localhost\", keep_default_viewer=False, max_env=16, scene_offset=np.array([40.0, 40.0]))\n",
     "\n",
     "\n",
     "################################################################################################\n",
@@ -264,42 +271,45 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": false,
+    "jupyter": {
+     "outputs_hidden": false
+    }
+   },
    "outputs": [],
    "source": [
-    "# Modify the IP if the jupyter server is not localhost\n",
-    "machine_ip = \"127.0.0.1\"\n",
-    "web_visualizer.jupyter_cell(url=f\"http://{machine_ip}:7000/static/\")"
+    "# Comment out the hydra/job_logging in the config to avoid a hydra error.\n",
+    "# This is nothing related to the web visualizer but will raise a multiple value error without the following modification\n",
+    "# You do not need to do that if you are not using hydra compose API.\n",
+    "!sed -i 's/- hydra/#- hydra/g' IsaacGymEnvs/isaacgymenvs/cfg/config.yaml"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "metadata": {},
    "outputs": [],
    "source": [
-    "# Comment out the hydra/job_logging in the config to avoid a hydra error.\n",
-    "# This is nothing related to the web visualizer but will raise a multiple value error without the following modification\n",
-    "# You do not need to do that if you are not using hydra compose API.\n",
-    "!sed -i 's/- hydra/#- hydra/g' IsaacGymEnvs/isaacgymenvs/cfg/config.yaml"
-   ],
-   "metadata": {
-    "collapsed": false
-   }
+    "# Modify the IP if the jupyter server is not localhost\n",
+    "machine_ip = \"127.0.0.1\"\n",
+    "web_visualizer.jupyter_cell(url=f\"http://{machine_ip}:7000/static/\", height=400)"
+   ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "scrolled": true
+   },
    "outputs": [],
    "source": [
     "hydra.core.global_hydra.GlobalHydra.instance().clear()\n",
     "config_path = \"IsaacGymEnvs/isaacgymenvs/cfg\"\n",
-    "\n",
-    "task_name = \"AllegroHand\"\n",
+    "task_name = \"Ant\"\n",
     "with hydra.initialize(version_base=None, config_path=config_path):\n",
     "    cfg = hydra.compose(config_name='config.yaml', overrides=[f\"task={task_name}\"])\n",
-    "\n",
-    "launch_rlg_hydra(cfg)\n"
+    "launch_rlg_hydra(cfg)"
    ]
   },
   {
@@ -326,9 +336,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.16"
+   "version": "3.8.17"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 1
+ "nbformat_minor": 4
 }
diff --git a/sim_web_visualizer/isaac_visualizer_client.py b/sim_web_visualizer/isaac_visualizer_client.py
@@ -167,7 +167,7 @@ def create_env(arg0: gymapi.Sim, arg1: gymapi.Vec3, arg2: gymapi.Vec3, arg3: int
                 self.env_handle_request += 1
 
                 if self.num_per_row is None:
-                    self.num_per_row = arg3
+                    self.num_per_row = min(arg3, int(np.ceil(np.sqrt(self.max_env))))
                     env_size = arg2 - arg1
                     self.env_size = np.array([env_size.x, env_size.y, env_size.z])
             return env
