I am running a simulation with a time step of 0.001 and gravity of -9.8. My model isn't very tall just 0.4m. When I use your viewer it puts everything into slow motion. If I turn off help it gets faster but still in slow motion. Pressing D seems to make it just go faster than real life. Why is it not moving at the same rate it would in real life? How do I get it to render in real time?

I'm new to mujoco and I'm trying to play with interactive visualization. mujoco-python-viewer seems really useful!

I noticed though that I cannot use it with the dm_control.mujoco.Physics API (which is more convenient for named indexing, etc.).

To clarify my intention, below is an example of the way I would like to use it:

from dm_control import mujoco
import mujoco_viewer

physics = mujoco.Physics.from_xml_path('my_model.xml')
model = physics.model
data = physics.data

viewer = mujoco_viewer.MujocoViewer(model, data)

for _ in range(10000):
    if viewer.is_alive:
        physics.step()
        viewer.render()
    else:
        break

viewer.close()

Is there a way to do that?

When ESC is pressed to terminate the viewer, the code will just:

print("Prssed ESC")
print("Quitting.")
glfw.terminate()
sys.exit(0)

Is there a reason why this code is not just calling the self.close() which does partly the same and in addition releases ctx?

Added a Kinematic Loop example Simplified the mujoco_viewer.py with callbacks in another file. Auto creates a root/tmp (unless root/tmp exists) to save screen captures in it.

TODO: No.2 in #4

Sometimes, especially for experiments, it's good to have a clean window without any menus to take screenshots. I added a small code that provides a toggle to turn on or off the bottom-left stats menu. I also added an optional parameter to turn it off when initializing the viewer. By default, nothing changes, the stats menu will be visible as like before.

I had to introduce two different names for these menus: help_menu for the previous menu and statistics_menu for the bottom-left one.

I'm currently working with masse, torques, etc, seeing this series. And was hoping to take the examples directory a bit further (Although I'm not sure how much of this is practical). By creating sort of a tutorial/example with a simple pendulum to obtain units of torque, tuning values of kp, kd, ki etc... A graphing of PID error like the profiler/sensor section of the simulate viewer which generates live graphs.

Perhaps a wiki with these:

• [x] 4-bar-mechanism example, for creation of constraints 4-bar-example
• [x] Simplified mujoco_viewer.py in extended-example-tutorial commits: 97783ab 5839301 aab2d48
• [x] Add Sensor Graphs : Preview
• [x] ~PID tuning and example in wiki~ mujUI elements are not supported yet in python

Existing graphing:

This is nice repository. This code will help me a lot.

But I have a question about displaying arrow when dragging.

In example in readme.md, arrow to indicate force is displayed like this.

https://user-images.githubusercontent.com/53563180/185560247-a8f1c8f9-95a5-450d-bd3f-c6554323b6c6.mp4

However, it shows a box and prevent me from undastanfing the direction of the force in my trial. I also trys left/right ctrl keys.

Do you have any idea to fix this?

thanks

this is my environment python 3.7.12 glfw 2.5.4 mujoco-python-viewer 0.1.1

I tested the code on python3 on mac (intel) and I had to do 3 changes to get it work

1. remove import imagio (package is not needed and I was not able to install it anyway)
2. line 500 and 533 I had to change is to ==

Thanks for the great work, and I am trying to transform my script to use this lib from mujoco-py. But I realized that this library seems to be incapable to create multiple instances: For example, a -1 observer view, and 0,1 for stereo vision.

I am wondering if there is any workaround in-mind related to this?

Best Jack

Hello, I am using mbp m1 to test this viewer with mujoco python bindings.

I found that when I run the basic example by this viewer, mouse actions are wrong on mac.

The bug is "double click" cannot select an object but turn on/off the contact force option( and c button function by keyboard can still work). So I cannot use ctrl + left/right click to give a torque or force on object.

I tested this in MuJoCo simulation by importing a xml file to MuJoCo directly, also on mac, and the "double click" worked and can select the object. So it's not the mujoco issue. Besides, I also tested same version viewer on ubuntu, it works very well.

I suspect there are somethings different on mac. I checked the code but found nothing.

Please have a look, many thanks!

This allows a client to use the class in the following way:

with MujocoViewer(model, data) as viewer:
    viewer.render()

and it will call viewer.close() when it goes out of scope, so the client doesn't have to.

Hello,

I am new to Mujoco but I could take a screenshot by referring to your program! Thank you very much.

However, I did not know how to take a video and would like to know how to do so.

I am sorry to trouble you with this, but thank you in advance for your time.

Thank you in advance.

This might be a breaking change:

# pass in the xml path to the viewer directly and upon KEY_BACKSPACE, reload the sim
viewer = viewer.MujocoViewer(xml_path="Projects/rjax_python/robots/humanoid/scene.xml")
while True:
        mujoco.mj_step(viewer.model, viewer.data)
        viewer.render()

Each time the model and data have to be accessed, they have to be done via viewer.model and viewer.data. The examples, etc need to change. Would this PR be okay? (Of course, the changes will be reflected in the README and examples)

Need for this/Use case:

No relaunching of the python script for .xml tweaking, no need to use simulate.cc for the same

Implementation Example:

https://user-images.githubusercontent.com/37873142/192229058-3711d7ab-b69c-46c0-b6b3-998364ce704f.mp4

(If the video stops in the middle, kindly scrub manually to the end. The video may be corrupted)

Too many changes in #23. So I want to ask this here (perhaps there are too many config options): Add font options withinMjrContext?

viewer.__init__(font="small")  # or "large"

if font == "large":
   self.ctx = mujoco.MjrContext(
       self.model, mujoco.mjtFontScale.mjFONTSCALE_150.value)
elif font == "small":
    self.ctx = mujoco.MjrContext(
       self.model, mujoco.mjtFontScale.mjFONTSCALE_100.value)

| Small | Large | |:------:|:-------:| | | |

Graph preview (KEY: G)

Unfortunately, the time at the bottom of the graph was not recorded in the video. It gives a time-based graph The red line is a random signal(sine in this case)

https://user-images.githubusercontent.com/37873142/190720262-22f09c46-363b-4dc3-8c37-b340ed66a69b.mp4

Actuator Force visualization via graphs

The sites are used to get the location and orientation of the body at the actuator location only.

https://user-images.githubusercontent.com/37873142/190720353-2cf6e5d8-a1d5-4c67-8757-a5c2f8d6cbd6.mp4

... and added examples

Hello,

I needed some way to get some "user options". I have different MuJoCo data that I would like to visualize, so I wanted a way for a user to press "1" and then the client code alter the viewer data/model to the first data, then press "2" and alter the viewer data/model to the second data etc.

I have written this here: https://github.com/rpapallas/mujoco-python-viewer/commit/dc8679ee39623cd7d93b7576ed1d089d938beee7

If you think something like this is going to be useful and could be implemented like this or differently, please let me know. This could be a generic feature like "user options" allowing the client code to do something if a certain user option is pressed, which currently is limited to numeric values, but could be any value while shift is pressed. I understand that this might not be useful to everyone, though.