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Using the web visualizer on ManiSkill2

import sapien.core as sapien import sapien.core as sapien

ManiSkill2 is a comprehensive environment suite for robot learning. For more information, please visit the ManiSkill2 website.

This example provides a minimal code modification to port all visualization to the web browser.

Examples

Replay ManiSkill2 Demonstration in Web Visualizer

sapien

# Install the dependencies for ManiSkill2 if you have not
pip install mani-skill2
# or pip install ."[sapien]" in the project root to install all required dep for the SAPIEN ManiSkill example
cd example/sapien

# Download ManiSkill2 demonstrations, you can also replace the `PegInsertionSide` with other task name
python -m mani_skill2.utils.download_demo "PegInsertionSide-v0"
python replay_maniskill_demo.py --traj-path demos/v0/rigid_body/PegInsertionSide-v0/trajectory.h5

Open a browser window and navigate to http://127.0.0.1:7000/static/ to visualize the demonstration trajectory

Visualize ManiSkill2 environment with random robot action

sapien

  1. Start the Meshcat server in the terminal. The default URL is http://127.0.0.1:7000/static/ for localhost.
meshcat-server

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

  2. Run the minimal example run_maniskill2.py modified from the ManiSkill2 Quickstart documentation.

# You may need to download the ManiSkill2 assets before running
python -m mani_skill2.utils.download_asset all
python run_sapien_viz.py

This will start the simulation, and you should be able to visualize it in your web browser via the provided link.

Please be aware that the errors [svulkan2] [error] GLFW error: X11: The DISPLAY environment variable is missing and [svulkan2] [warning] Continue without GLFW. can be disregarded if you are operating on a headless server without a screen. Despite SAPIEN triggering an error when the DISPLAY variable is absent, both SAPIEN and the visualizer can function normally in such a situation.

Limitations

Currently, the rendering of soft body simulation is not support for SAPIEN ManiSkill.