From 2ad01960c6e660a930fdb18dca4179ec2eaad8b2 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 8 May 2026 03:32:13 -0700
Subject: [PATCH] Studio UI tweaks

- RHS: Make Inspector be focused by default.
- RHS: Remove Noise pane, put the functionality in the Controls pane.
- Improve Frame and Label dropdowns.

PiperOrigin-RevId: 912434712
Change-Id: I2ee5b647febfc4a90a0cf9387b1d416f5a0dd4a1
---
 src/experimental/platform/ux/gui.cc | 10 ++++++----
 src/experimental/studio/app.cc      | 29 +++++++++++++----------------
 2 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/src/experimental/platform/ux/gui.cc b/src/experimental/platform/ux/gui.cc
index b952688e..b0ffbadf 100644
--- a/src/experimental/platform/ux/gui.cc
+++ b/src/experimental/platform/ux/gui.cc
@@ -464,7 +464,8 @@ bool LabelSelectionGui(mjvOption* opts) {
 
   bool changed = false;
   const std::string label_preview =
-      std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
+      opts->label == 0 ? std::string(ICON_LABEL) + " Label"
+                       : std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
   if (ImGui::BeginCombo("##Label", label_preview.c_str(),
                         ImGuiComboFlags_NoArrowButton)) {
     for (int n = 0; n < IM_ARRAYSIZE(kLabelNames); n++) {
@@ -486,7 +487,8 @@ bool FrameSelectionGui(mjvOption* opts) {
 
   bool changed = false;
   const std::string frame_preview =
-      std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
+      opts->frame == 0 ? std::string(ICON_FRAME) + " Frame"
+                       : std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
   if (ImGui::BeginCombo("##Frame", frame_preview.c_str(),
                         ImGuiComboFlags_NoArrowButton)) {
     for (int n = 0; n < IM_ARRAYSIZE(kFrameNames); n++) {
@@ -1071,8 +1073,8 @@ void NoiseGui(const mjModel* model, const mjData* data, float& noise_scale,
               float& noise_rate) {
   const float item_width = ImGui::GetWindowWidth() * .6f;
   ImGui::PushItemWidth(item_width);
-  ImGui::SliderFloat("Scale", &noise_scale, 0, 1);
-  ImGui::SliderFloat("Rate", &noise_rate, 0, 4);
+  ImGui::SliderFloat("Noise scale", &noise_scale, 0, 1);
+  ImGui::SliderFloat("Noise rate", &noise_rate, 0, 4);
   ImGui::PopItemWidth();
 }
 
diff --git a/src/experimental/studio/app.cc b/src/experimental/studio/app.cc
index 1bed7a85..3952c9f9 100644
--- a/src/experimental/studio/app.cc
+++ b/src/experimental/studio/app.cc
@@ -872,11 +872,6 @@ void App::BuildGui() {
   }
 
   if (tmp_.inspector_panel) {
-    if (ImGui::Begin("Inspector", &tmp_.inspector_panel)) {
-      DataInspectorGui();
-    }
-    ImGui::End();
-
     if (ImGui::Begin("Explorer", &tmp_.inspector_panel)) {
       SpecExplorerGui();
     }
@@ -886,6 +881,11 @@ void App::BuildGui() {
       SpecEditorGui();
     }
     ImGui::End();
+
+    if (ImGui::Begin("Inspector", &tmp_.inspector_panel)) {
+      DataInspectorGui();
+    }
+    ImGui::End();
   }
 
   if (tmp_.chart_performance) {
@@ -1071,17 +1071,6 @@ void App::DataInspectorGui() {
   const ImGuiTreeNodeFlags node_flags =
       ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed;
 
-  ImGui::BeginChild("NoiseGui", {0, 0}, child_flags);
-  if (ImGui::TreeNodeEx("Noise", node_flags)) {
-    float noise_scale = 0;
-    float noise_rate = 0;
-    step_control_.GetNoiseParameters(noise_scale, noise_rate);
-    platform::NoiseGui(model(), data(), noise_scale, noise_rate);
-    step_control_.SetNoiseParameters(noise_scale, noise_rate);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
   ImGui::BeginChild("JointsGui", {0, 0}, child_flags);
   if (ImGui::TreeNodeEx("Joints", node_flags)) {
     platform::JointsGui(model(), data(), &vis_options_);
@@ -1091,6 +1080,14 @@ void App::DataInspectorGui() {
 
   ImGui::BeginChild("ControlsGui", {0, 0}, child_flags);
   if (ImGui::TreeNodeEx("Controls", node_flags)) {
+
+    float noise_scale = 0;
+    float noise_rate = 0;
+    step_control_.GetNoiseParameters(noise_scale, noise_rate);
+    platform::NoiseGui(model(), data(), noise_scale, noise_rate);
+    step_control_.SetNoiseParameters(noise_scale, noise_rate);
+    ImGui::Separator();
+
     platform::ControlsGui(model(), data(), &vis_options_);
     ImGui::TreePop();
   }