Visualization

It’s useful to visualize what the simulation is doing. MuJoCo-rs provides three main ways of visualization (requires enabling the corresponding Cargo features):

• 3D viewer for onscreen visualization (window) — viewer feature (or viewer-ui to enable with UI)

• 3D renderer for offscreen rendering (array or a file) — renderer feature

• Wrapper of MuJoCo’s C++ 3D viewer for onscreen visualization using MuJoCo’s official C++ viewer — cpp-viewer feature

Attention

On macOS, visualization does not work without patching the glutin dependency. See the installation guide for instructions.

Table of contents

• 3D viewer
  • Rust-native 3D viewer
    • Multi-threading
    • Custom UI widgets
    • Model Parameter Synchronization
    • Asset re-upload
  • Wrapper of MuJoCo’s C++ 3D viewer
• 3D renderer
  • End-to-end example
  • Asset re-upload
• Custom visualization
  • Drawing to a scene