Enable contact visualization in the renderer to debug collisions

tray_sim.py

@@ -47,6 +47,13 @@ def run_tray_simulation(seed=0, num_objects=N_OBJECTS, azimuth=45, elevation=-25
 
     # Custom camera parameters
     scene_option = mujoco.MjvOption()
+
+    # Enable contact visualization in the renderer to debug collisions
+    # Check if contact points appear when the puck hits the tray. If not,
+    # collisions are not being detected.
+    scene_option.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = True
+    scene_option.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] = True
+
     cam = mujoco.MjvCamera()
     cam.type = mujoco.mjtCamera.mjCAMERA_FREE
     cam.lookat[:] = np.array([0.0, 0.0, 0.02])     # Center of the tray