mujoco-py Add a possibility to remove a marker.

Hi,

I want to record a video from the viewer that contains a lot of markers (4 per render). I am using visual markers to display intermediate goals set by the RL policy. Everything works great until I run out of geoms. If I add a marker and render, then the next time I render again, the marker isn't there anymore. However, I seems that the marker counter (self._scn.ngeom) does not reset. Thus, I run out of the geoms.

Is there a possibility to either reset the counter or even better add a function to remove a marker?

To reproduce the issue, run this code

#!/usr/bin/env python
# demonstration of markers (visual-only geoms)

import math
import time
import os
import numpy as np
from mujoco_py import load_model_from_xml, MjSim, MjRenderContextOffscreen

MODEL_XML = """
<?xml version="1.0" ?>
<mujoco>
    <worldbody>
        <body name="box" pos="0 0 0.2">
            <geom size="0.15 0.15 0.15" type="box"/>
            <joint axis="1 0 0" name="box:x" type="slide"/>
            <joint axis="0 1 0" name="box:y" type="slide"/>
        </body>
        <body name="floor" pos="0 0 0.025">
            <geom size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/>
        </body>
    </worldbody>
</mujoco>
"""
model = load_model_from_xml(MODEL_XML)
sim = MjSim(model)
viewer = MjRenderContextOffscreen(sim, -1)
step = 0
while True:
    t = time.time()
    x, y = math.cos(t), math.sin(t)
    viewer.add_marker(pos=np.array([x, y, 1]),
                      label=str(t))
    viewer.render(500, 500)
    print(step)

    step += 1

It crashes when step reaches 1000.

Thank you,

Lukas

Jun 25 '19 10:06 jendelel

I figured out a workaround.

According to MuJoCo forum, update_scene resets all virtual geoms, i.e. all markers. Unfortunately, mujoco-py does not clear the _markers list in the rgb_array (offscreen=True) mode.

Calling del viewer._markers[:] after render() fixes the issue.

Jul 22 '19 15:07 jendelel

@jendelel thanks for the discovered way for removing old markers. i am wondering where can one find the parameters of markers? Can one change size, type color etc...?

Dec 09 '19 08:12 alexpostnikov

@alexpostnikov Even though you might not need the answer anymore, I'll post what I figured out for future reference: It seems like you can pass the attributes from http://www.mujoco.org/book/APIreference.html#mjvGeom as arguments. e.g.: viewer.add_marker(pos=np.array([0.1, 0.2, 0.3]), type=2, label="test", size=np.array([0.01, 0.01, 0.01]), rgba=np.array([0.0, 0.0, 1.0, 1.0]))

May 10 '21 13:05 jonasjuerss

@jendelel Hello, thank you a lot for your post. I am also facing this error RuntimeError: Ran out of geoms. maxgeom: 1000. I tried to remove this line from mjrendercontext.pyx, reinstalled mujoco-py but it does not work. How could you remove markers in offscreen mode? I checked the data underviewer. There is no _markers attribute.

Sep 03 '22 19:09 happygaoxiao

In case someone might need it. Because the _markers attribute is read-only in the mjrendercontext.pyx. In order to reset it, we need to do the following steps.

Uninstall mujoco_py by pip uninstall mujoco_py.
Delete all cdef readonly list _markers lines in the mujoco_py/cymj.c. So that we can re-write it.
Delete all .so files and cache.
pip setup.py install to install the package.
In your main script, after render(), add viewer._markers = [] to clear all markers.

A more elegant way should be to add a reset directly incymj.c. But anyway, the above solution works well.

Sep 04 '22 14:09 happygaoxiao

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Add a possibility to remove a marker.

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