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Visualization

visualization

Traceable

Bases: Protocol

Anything with a world position that can be followed by a Tracer, e.g. a Body, Site, or Geom.

ArrowConfig dataclass

Python
ArrowConfig(
    pos: Vec3,
    vec: Vec3,
    color: Vec4,
    is_torque: bool,
    length_scale: float = 1.0,
    width_scale: float = 1.0,
)

length_scale class-attribute instance-attribute

Python
length_scale: float = 1.0

Extra multiplier applied on top of MuJoCo's native length scaling, for stretching or shrinking this arrow's length independently of the others.

width_scale class-attribute instance-attribute

Python
width_scale: float = 1.0

Extra multiplier applied on top of MuJoCo's native width scaling, for thickening or thinning this arrow's shaft independently of the others.

resolve_arrow_coords

Python
resolve_arrow_coords(
    mj_model: MjModel,
) -> tuple[Vec3, Vec3, float]

Calculates the 'from' and 'to' points and width for an arrow.

Source code in src/mujoco_mojo/visualization.py
Python
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def resolve_arrow_coords(
    self, mj_model: mujoco.MjModel
) -> tuple[Vec3, Vec3, float]:
    """Calculates the 'from' and 'to' points and width for an arrow."""
    # calculate native scaling
    v_map = mj_model.vis.map
    v_scale = mj_model.vis.scale
    stat = mj_model.stat

    if self.is_torque:
        mag_scale = v_map.torque
        width = v_scale.jointwidth * stat.meansize
    else:
        mag_scale = v_map.force
        width = v_scale.forcewidth * stat.meansize

    # normalize length by mean body mass, then apply the caller's custom length scale
    scaled_vec = (
        self.vec * (mag_scale / max(stat.meanmass, 1e-6)) * self.length_scale
    )
    start = np.asarray(self.pos)
    end = start + scaled_vec

    # apply the caller's custom width scale, then cap it so a short vector doesn't render as
    # a disk (see _MAX_WIDTH_TO_LENGTH_RATIO)
    length = float(np.linalg.norm(scaled_vec))
    width = min(width * self.width_scale, length * self._MAX_WIDTH_TO_LENGTH_RATIO)

    return start, end, width