Selectively visualize frames

[richardrl]

Intro

Hi!

I am a graduate student using Mujoco for robotics.

My setup

Mujoco 3.2.6, Python 3.12

My question

How can I selectively visualize frames?

With this code block, I can visualize all body frames:

with viewer.launch_passive(scene_model, data) as v:
    # Enable joint visualization
    v.opt.frame = mujoco.mjtFrame.mjFRAME_BODY

But I want to visualize only this frame, for example:
https://github.com/google-deepmind/mujoco_menagerie/blob/469893211c41d5da9c314f5ab58059fa17c8e360/franka_fr3/fr3.xml#L126C33-L126C42

Put another way, how can I only show the frames specified by a list of body name strings?

Confirmations

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

[yuvaltassa]

There's no way to do that.

Here's a workaround:

1. Put a site at the body frame that you want to visualize and give it a site_group value that no other site has.
2. Visualize site frames, activating only that group.

Note that group values can be changed at runtime in the mjModel, this will not has any unexpected side-effects.