Using mediapy with MuJoCo (Visual Studio Code / Windows 10)

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Intro

Hi!

I am an assistant prof at Imperial. My lab uses MuJoCo for my research on robotic manipulation (mainly on Linux or Mac machines). I'm currently trying to set things up on my Windows laptop and am running into issues.

My setup

MuJoCo - 3.2.7
OS - Win 10
IDE - Visual Studio Code 1.96.4
Python - 3.12.8

My question

When I try and display renders with mediapy I get no visual output and the below terminal output (using the provided minimal example). I found a similar issue reported in (#817 (comment)) but it seems that the answer was that the issue was fixed in more recent versions of mujoco. I installed the latest version of mujoco this week and am still having the problem. FYI - the viewer works when launched with mujoco.viewer.launch(m) Any help is appreciated.

IPython.core.display.HTML object>
Exception ignored in: <function Renderer.__del__ at 0x000002681AD79F80>
Traceback (most recent call last):
  File "C:\Users\braks\AppData\Local\Programs\Python\Python312\Lib\site-packages\mujoco\renderer.py", line 337, in __del__ 
  File "C:\Users\braks\AppData\Local\Programs\Python\Python312\Lib\site-packages\mujoco\renderer.py", line 323, in close   
  File "C:\Users\braks\AppData\Local\Programs\Python\Python312\Lib\site-packages\mujoco\glfw\__init__.py", line 35, in free
TypeError: 'NoneType' object is not callable
Exception ignored in: <function GLContext.__del__ at 0x000002680C1DDE40>
Traceback (most recent call last):
  File "C:\Users\braks\AppData\Local\Programs\Python\Python312\Lib\site-packages\mujoco\glfw\__init__.py", line 41, in __del__
  File "C:\Users\braks\AppData\Local\Programs\Python\Python312\Lib\site-packages\mujoco\glfw\__init__.py", line 35, in free
TypeError: 'NoneType' object is not callable

Minimal model and/or code that explain my question

import mujoco
import mediapy as media

model = mujoco.MjModel.from_xml_path('universal_robots_ur5e/ur5e.xml')
renderer = mujoco.Renderer(model)

media.show_image(renderer.render())

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]

Perhaps others in the community can help with this.

Unfortunately, like yourself, we (the dev team) use Linux and Mac but not Windows. Other than than GitHub Actions' Windows CI workflow (which indeed does not test for this corner of the codebase), is it very difficult for us to help with Windows-related issues...

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I think I figured it out. Mediapy doesn't work with Visual Studio Code. I switched to Jupyter Lab and my original code gave me a blank image (but no errors). Adding a camera and stepping the simulation gives me a render of a UR5.
Strangely, if you omit 'renderer=None; it will only render if you restart the kernel every time you run the code, otherwise the output is just black.

Here's the working code:

import mujoco
import mediapy as media

renderer = None

model = mujoco.MjModel.from_xml_path('universal_robots_ur5e/ur5e.xml')
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model)

mujoco.mj_forward(model, data)

camera = mujoco.MjvCamera()
mujoco.mjv_defaultFreeCamera(model, camera)
camera.distance = 1.5

renderer.update_scene(data, camera)
media.show_image(renderer.render())