How to change Visualization -> Scale - > All(meansize) ?

[AngLi-00]

Intro

Hi!

I'm a beginner of mujoco and I‘m trying to deploy my RL policy in mujoco with generated large terrain, while the visualization scale seems to be too large for now. As you can see the Visualization -> Scale - > All(meansize) is auto-set to 5.401, which cause by a very large terrain I believe. Is there anyway to modify this param in my code? I loaded Mjlab-generated terrain and my own robot like:

` main_spec = mujoco.MjSpec()
self.model = main_spec.compile()
xml_path = self.cfg["xml_path"]

    robot_spec = mujoco.MjSpec.from_file(xml_path)
    robot_frame = main_spec.worldbody.add_frame() # reference frame of robot
    main_spec.attach(robot_spec, prefix="robot/", frame=robot_frame)

    from mjlab.terrains.terrain_importer import TerrainImporter, TerrainImporterCfg
    from mjlab.terrains.terrain_generator import TerrainGenerator, TerrainGeneratorCfg
    from mjlab.terrains.config import ROUGH_TERRAINS_CFG

    generator = TerrainGenerator(ROUGH_TERRAINS_CFG)
    terrain_spec = mujoco.MjSpec()
    generator.compile(terrain_spec)
    terrain_frame = main_spec.worldbody.add_frame() # reference frame of terrain
    main_spec.attach(terrain_spec, prefix="terrain/", frame=terrain_frame)

    self.model = main_spec.compile()
    self.data = mujoco.MjData(self.model)

    # Setup Viewer
    self.viewer = mujoco.viewer.launch_passive(self.model, self.data, )`

I tried to find some setting in viewer.user_scn (for instance, set self.viewer.user_scn.scale = 0.1) but failed to change this meansize scale successfully.

My setup

Mujoco==3.3.7

My question

No response

Minimal model and/or code that explain my question

No response

Confirmations

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

[v-r-a]

self.model.stat.meansize = 0.5 # whatever you want

There is an instance of mjStatistic named stat in mjModel

[AngLi-00]

Thanks! It works :)