Implementation:Google deepmind Mujoco mjv updateScene

Knowledge Sources	MuJoCo MuJoCo API Reference
Domains	Visualization, 3D_Graphics
Last Updated	2026-02-15 06:00 GMT

Overview

Concrete tool for updating the abstract scene from simulation state provided by the MuJoCo visualization API.

Description

The mjv_updateScene function populates an mjvScene with geometries from the current simulation state. It processes all visible bodies, geoms, sites, tendons, and actuators according to the visualization options, applies the camera transform, handles perturbation visualization, and sorts geometries for rendering.

Usage

Call in the render loop between mj_step and mjr_render to update what will be displayed. Use mjCAT_ALL as catmask to include all geometry categories.

Code Reference

Source Location

• Repository: mujoco
• File: src/engine/engine_vis_visualize.c
• Lines: 3373-3380

Signature

void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
                     const mjvPerturb* pert, mjvCamera* cam,
                     int catmask, mjvScene* scn);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
m	const mjModel*	Yes	Physics model
d	mjData*	Yes	Current simulation state
opt	const mjvOption*	Yes	Visualization options
pert	const mjvPerturb*	No	User perturbation state (NULL if none)
cam	mjvCamera*	Yes	Camera viewpoint
catmask	int	Yes	Category bitmask (mjCAT_ALL for everything)
scn	mjvScene*	Yes	Scene to populate

Outputs

Name	Type	Description
scn (modified)	mjvScene*	Updated with current geometry positions and visual state

Usage Examples

// In render loop
mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
mjr_render(mjr_maxViewport(&con), &scn, &con);

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Scene_Update