Added Convex Hull Rendering

Author: rohit-kumar-j

mujoco_viewer/mujoco_viewer.py

@@ -24,6 +24,7 @@ def __init__(self, model, data):
         self._contacts = False
         self._joints = False
         self._wire_frame = False
+        self._convex_hull_rendering = False
         self._inertias = False
         self._com = False
         self._render_every_frame = True
@@ -137,6 +138,12 @@ def _key_callback(self, window, key, scancode, action, mods):
         elif key == glfw.KEY_M:
             self._com = not self._com
             self.vopt.flags[mujoco.mjtVisFlag.mjVIS_COM] = self._com
+        # Convex-Hull rendering
+        elif key == glfw.KEY_V:
+            self.vopt.flags[
+                mujoco.mjtVisFlag.mjVIS_CONVEXHULL
+            ] = self._convex_hull_rendering
+            self._convex_hull_rendering = not self._convex_hull_rendering
         # Wireframe Rendering
         elif key == glfw.KEY_W:
             self._wire_frame = not self._wire_frame
@@ -408,6 +415,11 @@ def add_overlay(gridpos, text1, text2):
             topleft,
             "[W]ireframe",
             "On" if self._wire_frame else "Off")
+        add_overlay(
+            topleft,
+            "Con[V]ex Hull Rendering",
+            "On" if self.callbacks._convex_hull_rendering else "Off",
+        )
         if self._paused is not None:
             if not self._paused:
                 add_overlay(topleft, "Stop", "[Space]")