Added Shadow Rendering

Author: rohit-kumar-j

mujoco_viewer/mujoco_viewer.py

@@ -23,6 +23,7 @@ def __init__(self, model, data):
         self._transparent = False
         self._contacts = False
         self._joints = False
+        self._shadows = False
         self._wire_frame = False
         self._convex_hull_rendering = False
         self._inertias = False
@@ -138,6 +139,10 @@ 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
+        # Shadow Rendering
+        elif key == glfw.KEY_O:
+            self._shadows = not self._shadows
+            self.scn.flags[mujoco.mjtRndFlag.mjRND_SHADOW] = self._shadows
         # Convex-Hull rendering
         elif key == glfw.KEY_V:
             self.vopt.flags[
@@ -407,6 +412,9 @@ def add_overlay(gridpos, text1, text2):
             topleft,
             "Center of [M]ass",
             "On" if self._com else "Off")
+        add_overlay(
+            topleft, "Shad[O]ws", "On" if self.callbacks._shadows else "Off"
+        )
         add_overlay(
             topleft,
             "T[r]ansparent",