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Improve studio 2D plots

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PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
This commit is contained in:
Yuval Tassa
2025-12-09 08:55:57 -08:00
committed by Copybara-Service
parent 5b1fa666fb
commit 32d7b87ba7
2 changed files with 16 additions and 14 deletions
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src/experimental/platform/sim_profiler.cc
+9 -4
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@@ -64,8 +64,9 @@ void SimProfiler::Update(const mjModel* model, const mjData* data) {
return;
}
mjtNum avg_total = total / number;
cpu_total_.erase(cpu_total_.begin());
cpu_total_.push_back(total / number);
cpu_total_.push_back(avg_total);
mjtNum collision = data->timer[mjTIMER_POS_COLLISION].duration / number;
cpu_collision_.erase(cpu_collision_.begin());
@@ -80,7 +81,7 @@ void SimProfiler::Update(const mjModel* model, const mjData* data) {
cpu_solve_.erase(cpu_solve_.begin());
cpu_solve_.push_back(solve);
mjtNum other = total - collision - prepare - solve;
mjtNum other = avg_total - collision - prepare - solve;
cpu_other_.erase(cpu_other_.begin());
cpu_other_.push_back(other);
@@ -119,7 +120,8 @@ void SimProfiler::Update(const mjModel* model, const mjData* data) {
void SimProfiler::CpuTimeGraph() {
if (ImPlot::BeginPlot("CPU Time", ImVec2(-1, 0))) {
if (ImPlot::BeginPlot("CPU Time", ImVec2(-1, 0), ImPlotFlags_NoMouseText)) {
ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
ImPlot::SetupAxis(ImAxis_X1, "frame", ImPlotAxisFlags_AutoFit);
ImPlot::SetupAxis(ImAxis_Y1, "msec", ImPlotAxisFlags_AutoFit);
ImPlot::SetupAxisFormat(ImAxis_Y1, "%.2f");
@@ -136,12 +138,14 @@ void SimProfiler::CpuTimeGraph() {
1, -(int)cpu_collision_.size());
ImPlot::PlotLine("other", cpu_other_.data(), cpu_other_.size(), 1,
-(int)cpu_other_.size());
ImPlot::PopStyleVar();
ImPlot::EndPlot();
}
}
void SimProfiler::DimensionsGraph() {
if (ImPlot::BeginPlot("Dimensions", ImVec2(-1, 0))) {
if (ImPlot::BeginPlot("Dimensions", ImVec2(-1, 0), ImPlotFlags_NoMouseText)) {
ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
ImPlot::SetupAxis(ImAxis_X1, "frame", ImPlotAxisFlags_AutoFit);
ImPlot::SetupAxis(ImAxis_Y1, "count", ImPlotAxisFlags_AutoFit);
ImPlot::SetupAxisFormat(ImAxis_Y1, "%.0f");
@@ -160,6 +164,7 @@ void SimProfiler::DimensionsGraph() {
-(int)dim_contact_.size());
ImPlot::PlotLine("iteration", dim_iteration_.data(), dim_iteration_.size(),
1, -(int)dim_iteration_.size());
ImPlot::PopStyleVar();
ImPlot::EndPlot();
}
}