Visualizing Articulated Assets

Visualizing Articulated Assets#

This document explains how to visualize articulated assets generated across different simulation environments and seeds. Currently, MuJoCo is the only visualization supported, with plans to add more simulators in the near future.

MuJoCo Visualization#

The MuJoCo visualizer creates videos showing how joints move, highlighting parent and child bodies.

Basic Usage#

To visualize an asset in MuJoCo run from root of repo:

python -m infinigen.tools.sim.visualizer --asset_name door --nr 3

A list of available assets can be seen in infinigen/assets/sim_objects/mapping.py.

This command will in one go:

  1. For the seeds 0, 1, 2, generate the assets and export to xml.

  2. Render animations (mp4) for each joint in the asset

  3. Generate an HTML file to view all animations in one file.

Command Line Options#

Option

Description

--asset_name

Name of the asset to render (e.g., “door”, “lamp”). Should match keys found in infinigen/assets/sim_objects/mapping.py.

--nr

Number of seeds. Will export from seed=0 to seed=nr-1.

--rand_seeds

Flag. Stores true. Use random seeds instead of sequential numbers. Use together with --nr.

--seeds

Specific seed values to use (e.g., --seeds 42 101 253). Can not use both --seeds and --nr.

--output_dir

Directory to save outputs (default: src/infinigen/tools/sim/tmp)

--parent_alpha

Transparency level for parent geometries (0-1)

--collision_mesh

Use collision meshes instead of visual meshes. Defaults to using only visual, no collision meshes.

--remove_existing

Remove existing files before generating new ones.

--use_cached_xml

Use cached XML files if available. By default exports asset again. If this flag is set, will use existing xml file if available.

Viewing Results#

After rendering, open the generated HTML file in brower:

# Example path: src/infinigen/tools/sim/tmp/vis_door_0_1_2.html

The interface provides:

  • Collapsible sections for each seed

  • Joint animations with different camera views

  • Success/failure indicators for rendering issues

Vis 2#

Coming soon

Vis 3#

Coming soon