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Data Visualization

If you want to visualize the first episode in a task to get a sense how the task look like. We provide a script for visualizing an episode.

Install Pinocchio package

manually install pinocchio due to numpy version conflicts

uv pip install "pin>=3.8.0"

revert numpy version

uv pip install numpy==1.26.4

Visualize

Visualize Real-World data

export task=Pick_bottle_and_turn_and_pour_into_cup

python scripts/viz/viz_episode_real.py \
  --args.data-dir=$PSI_HOME/data/real/$task \
  --args.port=9000 \
  --args.episode_idx=0

Open the link http://localhost:9000/ in the broswer.

The page displays g1 whole body joint state frame by frame and two red balls denote the control target wrist poses.

Visualize SIMPLE data

export task=G1WholebodyLocomotionPickBetweenTablesVariant5-v0

python scripts/viz/viz_episode_simple.py \
  --args.data-dir=$PSI_HOME/data/simple/$task \
  --args.port=9000 \
  --args.episode_idx=0