mujoco visualization on a remote server

[cstr-withyou]

Intro

Hi!

I am an undergraduate student , I use MuJoCo for my research on dexterous hands manipulation.
I'm a beginner in this field.

My setup

mujoco 3.2.5, python， ubuntu 20.04 on remote server, Windows11 on my own computer

My question

Hi. I'm running a mujoco-simulation code on a remote server which uses mujoco.viewer.launch_passive, but it doesn't work probably for lack of GUI. I'm wondering how can I make the visualization be displayed on my own computer. Or can I find any convenient ways to get the simulation process using "mj_forward" and "mj_step" visualized on my own computer?

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  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.