Extracting Faces during simulation

[Nick20500]

Intro

Hi!

I am a undergrad student at ETH Zurich, I use MuJoCo for my research on Multimaterial deformable objects.

My setup

I use MuJoCo 3.2.5 with python bindings.

My question

In my simulations I use flexcomp elements where I load .msh files into them. Everything works fine.
To generate a dataset of the objects deforming over time, I don't just want to save pixel frames but also mesh/object files.
So far, I am extracting the vertice information for the object in the simulation with:
sim_points = mj_data.flexvert_xpos.reshape(-1, 3)
For viewing the results I also would wan't to extract the faces of the triangles or tetrahedra (which ever mujoco uses during simulation).

I am pretty sure that something should exist, since the renderer which generates pixel images is also able to render faces and not only the vertices but I haven't found anything in the documentation.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[quagla]

Is this what you are asking? https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h#L874
i.e. you can use model.flex_elem.