kscale-mujoco-viewer
Mujoco viewer maintained by K-Scale Labs.
https://github.com/user-attachments/assets/5312fa03-7215-4c1b-9d66-acaa18b96a3c
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.
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