mujoco_viewer

Interactive viewer support for the Dart mujoco package.

The current implementation wraps mujoco.viewer.launch_passive and therefore requires the Python backend and a Python environment with mujoco installed.

Usage

final model = MjModel.fromXmlString(xml);
final data = MjData(model);
final viewer = MujocoViewer.launchPassive(model, data);

try {
  while (viewer.isRunning) {
    mjStep(model, data);
    viewer.sync();
  }
} finally {
  viewer.dispose();
}

The passive viewer does not advance simulation state itself. The Dart program owns the simulation loop and must call sync() after changing MjModel or MjData.

Unlike model and data wrappers, a viewer should be explicitly disposed so its window and GUI thread are closed deterministically.

Libraries

mujoco_viewer

Interactive viewer support for MuJoCo.