Dynamically Update Assets (height field)

[vikashplus]

I'm trying to dynamically update assets. While the model is getting updated and the simulation reflects the update, the viewer is not appropriately reflecting the update despite these updates being pushed to the mjr_contexts. Likely I'm missing something. Im attaching a simple script to reproduce.

from mujoco import viewer
from dm_control.mujoco import Physics
from dm_control.mujoco.wrapper.mjbindings import mjlib
import numpy as np

# Prepare physics
sim = Physics.from_xml_path('height_field.xml')

# Prepare viewer
window = viewer.launch_passive(sim.model.ptr, sim.data.ptr)

# New height field
for _ in range(5):

    # Prep new hfield
    sim.model.hfield_data[:] = np.random.uniform(high=.2, low=.1, size=np.shape(sim.model.hfield_data))

    # Re-Upload hfield data to gpu
    if sim.contexts:
        print("Uploading new asset")
        with sim.contexts.gl.make_current() as ctx:
            ctx.call(mjlib.mjr_uploadHField, sim.model.ptr, sim.contexts.mujoco.ptr, 0)

    # Sync viewer
    window.sync()

    # wait for user
    input("Press enter to generate new height field")

mujoco==2.3.5
dm-control==1.0.11
os = Ubuntu 18.04.6 LTS
Python 3.8.16

asset_update.zip

cc: @cameronberg

[saran-t]

This cannot work since the viewer is completely separate from the Python process.

[vikashplus]

I see. An ugly workaround for now is to close the existing viewer and re-open a new viewer (which picks up the new updaes)

from mujoco import viewer
from dm_control.mujoco import Physics
from dm_control.mujoco.wrapper.mjbindings import mjlib
import numpy as np

# Prepare physics
sim = Physics.from_xml_path('height_field.xml')

# Prepare viewer
window = viewer.launch_passive(sim.model.ptr, sim.data.ptr)

# New height field
for _ in range(5):

    # wait for user request =
    input("Press enter to request new height field")
    window.close()

    # Prep new hfield
    sim.model.hfield_data[:] = np.random.uniform(high=.2, low=.1, size=np.shape(sim.model.hfield_data))
    window = viewer.launch_passive(sim.model.ptr, sim.data.ptr)

    # Sync viewer
    window.sync()
    ```

[saran-t]

I'll keep thinking about alternative solutions.

[vikashplus]

This is amazing! Thanks @saran-t
I'll give it a try soon.

[saran-t]

This is now available in version 2.3.7 which was just released.