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I noticed a strange behavior of the MuJoCo viewer in passive mode. I'm experimenting with an example from the docs. Initially I faced the problem that I can't change the scale of the model elements (joints, contact forces, etc). When I adjust the values in the Visualization/Scale panel, it changes for a moment and then resets. But it looks like all the parameters in the "Visualization" panel are affected. If I launch the viewer in active mode, it works as expected. I tried a few versions down to 3.0.0, the behavior the same.
passive_viewer_test.mp4
Steps for reproduction
Run the code below.
Try to change some parameters in the "Visualization" panel.
Minimal model for reproduction
No response
Code required for reproduction
import time
import mujoco
import mujoco.viewer
xml = """
<mujoco>
<worldbody>
<light name="top" pos="0 0 1"/>
<body name="box_and_sphere" euler="0 0 -30">
<joint name="swing" type="hinge" axis="1 -1 0" pos="-.2 -.2 -.2"/>
<geom name="red_box" type="box" size=".2 .2 .2" rgba="1 0 0 1"/>
<geom name="green_sphere" pos=".2 .2 .2" size=".1" rgba="0 1 0 1"/>
</body>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
with mujoco.viewer.launch_passive(model, data) as viewer:
# Close the viewer automatically after 30 wall-seconds.
start = time.time()
while viewer.is_running() and time.time() - start < 30:
step_start = time.time()
# mj_step can be replaced with code that also evaluates
# a policy and applies a control signal before stepping the physics.
mujoco.mj_step(model, data)
# Example modification of a viewer option: toggle contact points every two seconds.
with viewer.lock():
viewer.opt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = int(data.time % 2)
# Pick up changes to the physics state, apply perturbations, update options from GUI.
viewer.sync()
# Rudimentary time keeping, will drift relative to wall clock.
time_until_next_step = model.opt.timestep - (time.time() - step_start)
if time_until_next_step > 0:
time.sleep(time_until_next_step)
Intro
Hi!
I'm just a robotics and software development enthusiast experimenting with MuJoCo.
My setup
MuJoCo 3.0.0-3.2.4, Python 3.12, Debian 12 (docker image "python:3.12-bookworm")
What's happening? What did you expect?
I noticed a strange behavior of the MuJoCo viewer in passive mode. I'm experimenting with an example from the docs. Initially I faced the problem that I can't change the scale of the model elements (joints, contact forces, etc). When I adjust the values in the Visualization/Scale panel, it changes for a moment and then resets. But it looks like all the parameters in the "Visualization" panel are affected. If I launch the viewer in active mode, it works as expected. I tried a few versions down to 3.0.0, the behavior the same.
passive_viewer_test.mp4
Steps for reproduction
Minimal model for reproduction
No response
Code required for reproduction
Confirmations
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