Upload scripts/open_mujoco_preview.py with huggingface_hub

scripts/open_mujoco_preview.py

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+#!/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()