Rename toolbox to platform.

PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513

src/experimental/platform/sim_profiler.h

@@ -0,0 +1,55 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
+
+#include <vector>
+
+#include <mujoco/mujoco.h>
+
+namespace mujoco::platform {
+
+// Collects and displays profiling data for MuJoCo simulations.
+class SimProfiler {
+ public:
+  SimProfiler();
+
+  // Clears all captured profiling data.
+  void Clear();
+
+  // Updates the profiling data with the latest simulation data.
+  void Update(const mjModel* model, const mjData* data);
+
+  // Displays the profiling data using ImPlot.
+  void CpuTimeGraph();
+  void DimensionsGraph();
+
+ private:
+  std::vector<float> cpu_total_;
+  std::vector<float> cpu_collision_;
+  std::vector<float> cpu_prepare_;
+  std::vector<float> cpu_solve_;
+  std::vector<float> cpu_other_;
+  std::vector<float> dim_dof_;
+  std::vector<float> dim_body_;
+  std::vector<float> dim_constraint_;
+  std::vector<float> dim_sqrt_nnz_;
+  std::vector<float> dim_contact_;
+  std::vector<float> dim_iteration_;
+};
+
+}  // namespace mujoco::platform
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_