kscale-mujoco-viewer

Mujoco viewer maintained by K-Scale Labs.

kmv_compressed.mp4

Installation

pip install kmv

Examples

Run the humanoid example script to see the viewer in action:

# cd to the root of the repo
python examples/default_humanoid.py

Usage

import mujoco, time
from kmv.app.viewer import QtViewer

model  = mujoco.MjModel.from_xml_path("path/to/model.xml")
data   = mujoco.MjData(model)
viewer = QtViewer(model)

while viewer.is_open:
    mujoco.mj_step(model, data)

    # send state
    viewer.push_state(data.qpos, data.qvel, sim_time=data.time)

    # send a few scalars to the “Debug” plot group
    viewer.push_plot_metrics(
        scalars={
            "qpos0": float(data.qpos[0]),
            "qvel0": float(data.qvel[0]),
        },
        group="Debug",
    )

    time.sleep(model.opt.timestep)

viewer.close()

Troubleshooting

If you have issues with linux machines that have both integrated and nvidia GPUs, you may need to set these environment variables to force use of the nvidia GPU.

__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia python examples/default_humanoid.py

You may also have to install the following utilities:

sudo apt install libxcb-cursor0 libxcb-cursor-dev

Additionally, depending on your setup, you may need to set the right environment variables to run the viewer properly. See this issue for more details.

QT_QPA_PLATFORM=wayland python examples/default_humanoid.py

Acknowledgements

Originally referenced from mujoco-python-viewer.