Added ability to toggle on/off the small bottom-left menu

Author: rpapallas

mujoco_viewer/mujoco_viewer.py

@@ -14,7 +14,8 @@ def __init__(
             data,
             title="mujoco-python-viewer",
             width=None,
-            height=None):
+            height=None,
+            hide_statistics_menu=False):
         self.model = model
         self.data = data
 
@@ -41,7 +42,8 @@ def __init__(
         self._run_speed = 1.0
         self._loop_count = 0
         self._advance_by_one_step = False
-        self._hide_menu = True
+        self._hide_help_menu = True
+        self._hide_statistics_menu = hide_statistics_menu
 
         # glfw init
         glfw.init()
@@ -90,7 +92,7 @@ def __init__(
     def _key_callback(self, window, key, scancode, action, mods):
         if action != glfw.RELEASE:
             if key == glfw.KEY_LEFT_ALT:
-                self._hide_menu = False
+                self._hide_help_menu = False
             return
         # Switch cameras
         elif key == glfw.KEY_TAB:
@@ -137,9 +139,11 @@ def _key_callback(self, window, key, scancode, action, mods):
             self.vopt.frame = 1 - self.vopt.frame
         # Hide overlay menu
         elif key == glfw.KEY_LEFT_ALT:
-            self._hide_menu = True
+            self._hide_help_menu = True
         elif key == glfw.KEY_H:
-            self._hide_menu = not self._hide_menu
+            self._hide_help_menu = not self._hide_help_menu
+        elif key == glfw.KEY_A:
+            self._hide_statistics_menu = not self._hide_statistics_menu
         # Make transparent
         elif key == glfw.KEY_R:
             self._transparent = not self._transparent
@@ -457,7 +461,8 @@ def add_overlay(gridpos, text1, text2):
             topleft,
             "Referenc[e] frames",
             "On" if self.vopt.frame == 1 else "Off")
-        add_overlay(topleft, "[H]ide Menu", "")
+        add_overlay(topleft, "[H]ide Help Menu (this menu)", "")
+        add_overlay(topleft, "Hide St[A]tistics Menu (bottom-left menu)", "")
         if self._image_idx > 0:
             fname = self._image_path % (self._image_idx - 1)
             add_overlay(topleft, "Cap[t]ure frame", "Saved as %s" % fname)
@@ -513,8 +518,12 @@ def update():
                 mujoco.mjr_render(self.viewport, self.scn, self.ctx)
                 # overlay items
                 for gridpos, [t1, t2] in self._overlay.items():
-                    if gridpos == mujoco.mjtGridPos.mjGRID_TOPLEFT and self._hide_menu:
+                    if gridpos == mujoco.mjtGridPos.mjGRID_TOPLEFT and self._hide_help_menu:
                         continue
+
+                    if gridpos == mujoco.mjtGridPos.mjGRID_BOTTOMLEFT and self._hide_statistics_menu:
+                        continue
+
                     mujoco.mjr_overlay(
                         mujoco.mjtFontScale.mjFONTSCALE_150,
                         gridpos,