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This documentation allows you to enable the web visualization of your normal IsaacGym code with tiny modification.

Install dependencies for IsaacGymEnv

First install IsaacGym. Note: IsaacGym requires Python 3.6, 3.7, or 3.8

pip install hydra-core gym==0.23.1 rl-games torch pyvirtualdisplay omegaconf jinja2
# or pip install ."[isaacgym]" in the project root

Examples

Train and visualize IsaacGym in Jupyter Notebook

pip install jupyter
# Launch Jupyter server
jupyter notebook --ip 0.0.0.0

Follow the instruction in Jupyter Notebook Example

notebook example

Visualize environment with random action agent

This example demonstrates how to visualize the environment with a random action agent. The steps are as follows:

  1. Open the meshcat server inside the terminal. The default URL is http://127.0.0.1:7000/static/ for localhost.

    meshcat-server

  2. Link the config directory to avoid filepath errors for examples.

    ln -s IsaacGymEnvs/isaacgymenvs/cfg ./

  3. Open a browser window and navigate to http://127.0.0.1:7000/static/

  4. Run the minimal environment example run_isaacgym_viz.py:

    cd sim-web-visualizer/example/isaacgym
python run_isaacgym_viz.py

For running code on a remote server, launch meshcat-server on this server, and navigate to http://YOUR_SERVERL_URL:7000/static/ in the web browser.

example

Visualize environment during RL training

This example demonstrates how to visualize the environment during RL training. The steps are similar to the previous example, but you need to run the run_isaacgym_training_viz.py script:

cd sim-web-visualizer/example/isaacgym
python run_isaacgym_training_viz.py task=Ant headless=False # Remember to set headless=False to render on web

More visualization control on the webpage

You can choose to visualize a single environment, disable the visualization of specific actors or links, and toggle the visibility in the scene tree.

scene toggle

You can also disable the visualization of a specific actor or even a single link using the same way to toggle the visibility in the scene tree.

Options for Visualization

You have the flexibility to maintain the original IsaacGym viewer alongside the web visualizer by setting keep_default_viewer=True. This is particularly useful for comparing the rendering outputs from the browser and the original viewer.

create_isaac_visualizer(port="6000", host="localhost", keep_default_viewer=True)

If you desire a purely headless configuration and solely want to use the web visualizer, like on a remote server, set keep_default_viewer=False.

Regardless of your choice to keep the original viewer window or not, you should always set headless=False in the environment constructor. This is required even if no X GUI (for instance, a monitor) is connected. This ensures that all rendering requests to the original IsaacGym viewer are redirected to the web visualizer.

envs = isaacgymenvs.make(
  **,
  headless=False,
  **,
)

Frequent Problems

You may encounter an error that reads as follows: ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory.

This issue is linked to IsaacGym and isn't connected to this repo. It generally occurs when you're utilizing a Conda Python environment. To resolve this problem, you should add the Conda library path to your LD_LIBRARY_PATH.

export LD_LIBRARY_PATH=YOUR_CONDA_PATH/envs/YOUR_CONDA_ENV_NAME/lib