Overlay menu: show mjtFrame name + geomgroup flags

Author: rohanpsingh

mujoco_viewer/callbacks.py

@@ -81,8 +81,8 @@ def _key_callback(self, window, key, scancode, action, mods):
             self.vopt.flags[mujoco.mjtVisFlag.mjVIS_JOINT] = self._joints
         # Display mjtFrame
         elif key == glfw.KEY_E:
-            self.vopt.frame+=1
-            if self.vopt.frame==mujoco.mjtFrame.mjNFRAME.value:
+            self.vopt.frame += 1
+            if self.vopt.frame == mujoco.mjtFrame.mjNFRAME.value:
                 self.vopt.frame = 0
         # Hide overlay menu
         elif key == glfw.KEY_LEFT_ALT:
@@ -119,7 +119,7 @@ def _key_callback(self, window, key, scancode, action, mods):
             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):
+        elif key in (glfw.KEY_0, glfw.KEY_1, glfw.KEY_2, glfw.KEY_3, glfw.KEY_4, glfw.KEY_5):
             self.vopt.geomgroup[key - glfw.KEY_0] ^= 1
         # Quit
         if key == glfw.KEY_ESCAPE:

mujoco_viewer/mujoco_viewer.py

@@ -199,14 +199,15 @@ def add_overlay(gridpos, text1, text2):
         add_overlay(
             topleft,
             "Referenc[e] frames",
-            "On" if self.vopt.frame != 0 else "Off")
+            mujoco.mjtFrame(self.vopt.frame).name)
         add_overlay(topleft, "[H]ide Menus", "")
         if self._image_idx > 0:
             fname = self._image_path % (self._image_idx - 1)
             add_overlay(topleft, "Cap[t]ure frame", "Saved as %s" % fname)
         else:
             add_overlay(topleft, "Cap[t]ure frame", "")
-        add_overlay(topleft, "Toggle geomgroup visibility", "0-4")
+        add_overlay(topleft, "Toggle geomgroup visibility (0-5)",
+                    ",".join(["On" if g else "Off" for g in self.vopt.geomgroup]))
 
         add_overlay(
             bottomleft, "FPS", "%d%s" %