Actuator force visualization

[alexhansson]

Hi,

I'm a student and I'm trying to use MuJoCo for the development of a simulation environment for space systems.

I'm trying to visualize the force each thruster of my space system generates. I know there is the built-in function which illustrates it by coloring the actuator geoms according to the thrust they are generating. Unfortunately in my case this is not clear enough. Is there a way to visualize the thrust with an arrow (scaled and colored according to thrust)?

It would probably be possible to do this with mjv_initGeom, but there is some overhead with the position and rotation of the arrows, which is why a built-in method is preferred.

Thank you for your help!