System identification toolbox for MuJoCo.

This resulted from a lengthy collaboration with @kevinzakka, @jonathanembleyriches, @nimrod-gileadi, @gizemozd, @quagla, and @yuval.

python/mujoco/sysid/report/builder.py

@@ -0,0 +1,104 @@
+# report/builder.py
+import os
+from typing import Any
+
+import jinja2
+
+from mujoco.sysid.report.sections.base import ReportSection
+
+# Path to the templates directory
+TEMPLATE_DIR = os.path.join(os.path.dirname(__file__), "templates")
+
+
+class ReportBuilder:
+  def __init__(self, title: str, global_context: dict[str, Any] | None = None):
+    self._title = title
+    self._sections: list[ReportSection] = []
+    self._global_context = global_context or {}
+
+    # Setup Jinja to load from files
+    self._env = jinja2.Environment(
+      loader=jinja2.FileSystemLoader(TEMPLATE_DIR),
+      autoescape=jinja2.select_autoescape(["html", "xml"]),
+    )
+
+  def add_section(self, section: ReportSection):
+    self._sections.append(section)
+
+  def build(self) -> str:
+    # Load the main layout
+    layout_template = self._env.get_template("layout.html")
+
+    # Render each section individually
+    rendered_sections = []
+    all_header_includes = set()
+
+    for section in self._sections:
+      # Get the specific template for this section
+      sec_template = self._env.get_template(section.template_filename)
+
+      # Check if this is a GroupSection (has 'sections' attribute)
+      extra_context = {}
+      child_sections: list[ReportSection] = getattr(section, "sections", [])
+      if child_sections:
+        child_sections_content = []
+        for child in child_sections:
+          child_template = self._env.get_template(child.template_filename)
+          child_html = child_template.render(child.get_context())
+          all_header_includes.update(child.header_includes())
+
+          # Fallback anchor for child
+          child_anchor = child.anchor
+          if not child_anchor:
+            child_anchor = (
+              child.title.lower()
+              .replace(" ", "-")
+              .replace("[", "")
+              .replace("]", "")
+              .replace("(", "")
+              .replace(")", "")
+            )
+
+          child_sections_content.append(
+            {"title": child.title, "content": child_html, "anchor": child_anchor}
+          )
+        extra_context["child_sections"] = child_sections_content
+
+      # Render the section HTML (main wrapper)
+      html_content = sec_template.render(section.get_context() | extra_context)
+      # Collect header requirements (scripts/css)
+      all_header_includes.update(section.header_includes())
+
+      # Fallback anchor generation
+      anchor = section.anchor
+      if not anchor:
+        anchor = (
+          section.title.lower()
+          .replace(" ", "-")
+          .replace("[", "")
+          .replace("]", "")
+          .replace("(", "")
+          .replace(")", "")
+        )
+
+      rendered_sections.append(
+        {
+          "title": section.title,
+          "anchor": anchor,
+          "collapsible": section.collapsible,
+          "is_open": section.is_open,
+          "content": html_content,
+        }
+      )
+
+    # Render final report
+    return layout_template.render(
+      report_title=self._title,
+      sections=rendered_sections,
+      header_includes=all_header_includes,
+      **self._global_context,
+    )
+
+  def save(self, path: str):
+    with open(path, "w", encoding="utf-8") as f:
+      f.write(self.build())