Rendering Artifacts and missing objects floor, robots when xml file contains lot's of robots affects simulate.exe or custom code with mjr_render calls

[AIBoticsGmbH]

Intro

Hi!

When using the simulate.exe and a xml with multiple robots the rendering get's worse not showing the floor for example.
This also happens when calling mjr_render in a different application as well so I don't think it has something to do with simulate.exe

Here are some screenshots:
Simulate.exe MuJoCo Version: 2.3.4

Another screenshot with 2.3.3:

In general it get's worse the more robots are in the xml.

Not sure what's the cause of it.

My setup

Using precompiled simulate.exe Version is: 2.3.3 & 2.3.4 but it i think it affects many older version as well

anteye256.xml.butgithubneeds.txt

What's happening? What did you expect?

I expect it to fully render the floor and all the Ant Robots

Steps for reproduction

1. Download the anteye256.xml.butgithubneeds.txt (optional rename to "anteye256.xml")
2. Start simulate.exe or linux equivalent
3. Load the xml by dragging it into the simulate program.
4. Start zooming around and dragging the camera and you will get render artifiacts when some parts won't be rendered properly

Minimal model for reproduction

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

minimal XML

anteye256.xml.butgithubneeds.txt

Confirmations

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

[saran-t]

kMaxGeom was recently increased from 20000 to 100000 for the simulate app.

If you try again when we release version 3.3.5 in the next day or two it should be better. If for some reason you're stuck with 2.3.4 (why are you using 2.3.4?) then you'll have to bump kMaxGeom and build it from source yourself.

[yuvaltassa]

I don't think this is to do with kMaxGeom, this is simply clipping at the near camera plane.

TLDR you want to decrease visual/map/znear and/or statistic/extent Please read these:
https://mujoco.readthedocs.io/en/3.3.5/XMLreference.html#visual-map-znear
http://mujoco.readthedocs.io/en/3.3.5/XMLreference.html#statistic-extent