| |
| 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() |
|
|
