#!/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()