Added Wireframe rendering

Toggle wireframe rendering Key = "W"

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._wire_frame = False
         self._render_every_frame = True
         self._image_idx = 0
         self._image_path = "/tmp/frame_%07d.png"
@@ -125,6 +126,10 @@ def _key_callback(self, window, key, scancode, action, mods):
                 self.model.geom_rgba[:, 3] /= 5.0
             else:
                 self.model.geom_rgba[:, 3] *= 5.0
+        # Wireframe Rendering
+        elif key == glfw.KEY_W:
+            self._wire_frame = not self._wire_frame
+            self.scn.flags[mujoco.mjtRndFlag.mjRND_WIREFRAME] = self._wire_frame
         # Geom group visibility
         elif key in (glfw.KEY_0, glfw.KEY_1, glfw.KEY_2, glfw.KEY_3, glfw.KEY_4):
             self.vopt.geomgroup[key - glfw.KEY_0] ^= 1
@@ -380,6 +385,10 @@ def add_overlay(gridpos, text1, text2):
             topleft,
             "T[r]ansparent",
             "On" if self._transparent else "Off")
+        add_overlay(
+            topleft,
+            "[W]ireframe",
+            "On" if self._wire_frame else "Off")
         if self._paused is not None:
             if not self._paused:
                 add_overlay(topleft, "Stop", "[Space]")