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a1ad979 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 | #!/usr/bin/env python3
import argparse
from pathlib import Path
import mujoco
import mujoco.viewer
parser = argparse.ArgumentParser(description="Open a MuJoCo MJCF preview with collision visibility toggle.")
parser.add_argument("mjcf_xml", type=Path)
parser.add_argument("--collision-group", type=int, default=1, help="Geom group used by collision proxies.")
parser.add_argument("--toggle-key", default="c", help="Keyboard key used to toggle collision proxy visibility.")
args = parser.parse_args()
xml = args.mjcf_xml.resolve()
model = mujoco.MjModel.from_xml_path(str(xml))
data = mujoco.MjData(model)
collision_visible = False
def set_collision_visible(viewer, visible):
global collision_visible
collision_visible = visible
viewer.opt.geomgroup[args.collision_group] = 1 if visible else 0
def key_callback(keycode):
if keycode == ord(args.toggle_key.upper()):
set_collision_visible(viewer, not collision_visible)
print(f"collision_proxy_visible={collision_visible}")
with mujoco.viewer.launch_passive(model, data, key_callback=key_callback) as viewer:
set_collision_visible(viewer, False)
print("Loaded", xml)
print(f"Press {args.toggle_key.upper()} to toggle collision proxy visibility.")
print("Press ` (backtick) for AABB/collision state, H for convex hull, P for contacts.")
while viewer.is_running():
mujoco.mj_step(model, data)
viewer.sync()
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