From 528e791d6e89f98189c30354c519360d9052f2f7 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sun, 5 Jul 2026 15:55:09 -0700
Subject: [PATCH] Add context menus to joint/control sliders for resetting
 values.

PiperOrigin-RevId: 942950247
Change-Id: I5d1c011f85d7d9abe6b19a699bb34af803998627
---
 src/experimental/platform/ux/gui.cc | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/experimental/platform/ux/gui.cc b/src/experimental/platform/ux/gui.cc
index 794569ab..33fab1f2 100644
--- a/src/experimental/platform/ux/gui.cc
+++ b/src/experimental/platform/ux/gui.cc
@@ -1263,6 +1263,12 @@ void JointsGui(const mjModel* model, const mjData* data,
 
     const int data_adr = model->jnt_qposadr[i];
     ImGui_Slider(name, &data->qpos[data_adr], min, max);
+    if (ImGui::BeginPopupContextItem()) {
+      if (ImGui::MenuItem("Reset to default")) {
+        data->qpos[data_adr] = model->qpos0[data_adr];
+      }
+      ImGui::EndPopup();
+    }
   }
 
   ImGui::PopItemWidth();
@@ -1302,6 +1308,12 @@ void ControlsGui(const mjModel* model, const mjData* data,
       max = model->actuator_ctrlrange[2 * i + 1];
     }
     ImGui_Slider(name, &data->ctrl[i], min, max);
+    if (ImGui::BeginPopupContextItem()) {
+      if (ImGui::MenuItem("Reset to 0")) {
+        data->ctrl[i] = mju_clip(0.0, min, max);
+      }
+      ImGui::EndPopup();
+    }
   }
 
   ImGui::PopItemWidth();