Rerun Visualization

Visualize a saved trajectory in Rerun without running any hardware.

uv run -m examples.replay_data --loader_cfg.path /data/rollouts/my_task/traj_0001.vla

Key parameters:

Parameter	Default	Description
--loader_cfg.path	(required)	Path to a .vla trajectory file
--freq	50	Replay frequency (Hz)

Robot model logging

This visualizer use the mujoco menangerie for robot model logging. If you wish to use a custom cache directory. Else specify a mujoco menagerie string

export URDF_PATH=/path/to/robot_descriptions/cache

Note: For using over SSH simply make sure to forward the ReRun address, ssh -R 9876:localhost:9876 <your_ssh_addrs>