How do I use MuJoCo's visualizer with state data without running the simulation (Python Bindings version 2.3.1)?

[nchen9191]

Hello,

MuJoCo newbie here. I am trying to use MuJoCo's visualizer without needing to run the simulator. I have an XML file that defines the model (cylindrical rod with two springs holding up the ends). Ideally, I want to be able to give it state data and have MuJoCo's visualizer render a frame of that state.

As an exercise, I ran a simulation of this model in MuJoCo and was able to produce a video of the simulation just fine. I then saved the time, qpos, qvel data from MjData. I tried recreate the video by setting MjData's time, qpos, and qvel with the saved data at the timesteps I want to render, but it did not work. What else needs to be saved and/or updated in order for this work? Thanks!

I'm using MuJoCo version 2.3.1 and Python bindings.

[yuvaltassa]

Go though our tutorial colab. If you still have this question, write back here.