Implementation:Google deepmind Mujoco mjv makeScene

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

Overview

Concrete tool for allocating the abstract 3D scene representation provided by the MuJoCo visualization API.

Description

The mjv_makeScene function allocates all buffers needed for the abstract scene: geometry arrays (up to maxgeom entries), flex data (edges, vertices, faces), and skin data (vertices, normals). It also initializes default rendering flags and model transformation. Companion functions mjv_defaultCamera and mjv_defaultOption initialize the camera and visualization options respectively.

Usage

Call after model loading to prepare for rendering. Typical maxgeom value is 10000 for complex scenes.

Code Reference

Source Location

• Repository: mujoco
• File: src/engine/engine_vis_init.c
• Lines (mjv_makeScene): 126-276
• Lines (mjv_defaultCamera): 341-350
• Lines (mjv_defaultOption): 316-340

Signature

void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
void mjv_defaultCamera(mjvCamera* cam);
void mjv_defaultOption(mjvOption* opt);

Import

#include <mujoco/mujoco.h>

I/O Contract

Inputs

Name	Type	Required	Description
m	const mjModel*	Yes	Model (for flex/skin sizing)
scn	mjvScene*	Yes	Scene struct to allocate
maxgeom	int	Yes	Maximum geometry count (e.g. 10000)
cam	mjvCamera*	Yes	Camera struct to initialize
opt	mjvOption*	Yes	Options struct to initialize

Outputs

Name	Type	Description
scn (modified)	mjvScene*	Allocated scene with geom, flex, skin buffers
cam (modified)	mjvCamera*	Free camera at default distance/angle
opt (modified)	mjvOption*	Default visualization flags

Usage Examples

#include <mujoco/mujoco.h>

mjModel* m = mj_loadXML("scene.xml", NULL, error, 1000);
mjData* d = mj_makeData(m);

// Initialize visualization structures
mjvCamera cam;
mjvOption opt;
mjvScene scn;
mjv_defaultCamera(&cam);
mjv_defaultOption(&opt);
mjv_makeScene(m, &scn, 10000);

// ... render loop ...

// Cleanup
mjv_freeScene(&scn);

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_Visualization_Initialization