First pass at mjSpec Explorer and Properties windows.
Displays the list of bodies and joints from the mjSpec and displays values for the selected element. Functionality is very limited and a bit non-intuitive. However, we want to get this into our users hands to start getting feedback. PiperOrigin-RevId: 842228895 Change-Id: I2491cd5e0acaf622110e0f6b8406919024d3607a
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
c064abc3da
commit
97eb307ce9
@@ -33,8 +33,8 @@ namespace mujoco::platform {
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static constexpr int kToolsBarHeight = 48;
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static constexpr int kStatusBarHeight = 32;
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static constexpr float kOptionsRelWidth = 0.22f;
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static constexpr float kInspectorRelWidth = 0.18f;
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static constexpr float kInfoRelHeight = 0.3f;
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static constexpr float kInspectorRelWidth = 0.22f;
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static constexpr float kStatsRelHeight = 0.3f;
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static ImVec2 GetFlexElementSize(int num_cols) {
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const float width = (ImGui::GetContentRegionAvail().x / num_cols) -
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@@ -83,14 +83,20 @@ ImVec4 ConfigureDockingLayout() {
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ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, kInspectorRelWidth,
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&inspector, &main);
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ImGuiID info = 0;
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ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kInfoRelHeight,
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&info, &inspector);
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ImGuiID stats = 0;
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ImGui::DockBuilderSplitNode(options, ImGuiDir_Down, kStatsRelHeight,
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&stats, &options);
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ImGuiID properties = 0;
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ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kStatsRelHeight,
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&properties, &inspector);
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ImGui::DockBuilderDockWindow("Dockspace", main);
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ImGui::DockBuilderDockWindow("Options", options);
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ImGui::DockBuilderDockWindow("Explorer", inspector);
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ImGui::DockBuilderDockWindow("Inspector", inspector);
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ImGui::DockBuilderDockWindow("Info", info);
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ImGui::DockBuilderDockWindow("Properties", properties);
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ImGui::DockBuilderDockWindow("Stats", stats);
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ImGui::DockBuilderFinish(root);
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}
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@@ -848,7 +854,8 @@ void CountsGui(const mjModel* model, mjData* data) {
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}
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}
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void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps) {
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void StatsGui(const mjModel* model, const mjData* data, bool paused,
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float fps) {
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const int num_islands = std::clamp(data->nisland, 1, mjNISLAND);
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// compute solver error (maximum over islands)
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@@ -916,4 +923,111 @@ void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps) {
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ImGui::Columns();
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}
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void BodyPropertiesGui(const mjModel* model, const mjData* data,
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mjsElement* element, int id) {
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const mjsBody* body = mjs_asBody(element);
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ImGui::Columns(2);
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ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
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ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
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std::string name = *mjs_getName(body->element);
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if (name.empty()) {
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name = "(Body " + std::to_string(id) + ")";
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}
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ImGui::Columns(2);
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ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.3f);
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ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.7f);
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ImGui::Text("Name");
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ImGui::Text("xpos[0]");
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ImGui::Text("xpos[1]");
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ImGui::Text("xpos[2]");
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ImGui::Text("xquat[0]");
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ImGui::Text("xquat[1]");
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ImGui::Text("xquat[2]");
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ImGui::Text("xquat[3]");
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ImGui::Text("mass");
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ImGui::NextColumn();
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ImGui::Text("%s", name.c_str());
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ImGui::Text("%f", data->xpos[3*id+0]);
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ImGui::Text("%f", data->xpos[3*id+1]);
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ImGui::Text("%f", data->xpos[3*id+2]);
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ImGui::Text("%f", data->xquat[4*id+0]);
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ImGui::Text("%f", data->xquat[4*id+1]);
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ImGui::Text("%f", data->xquat[4*id+2]);
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ImGui::Text("%f", data->xquat[4*id+3]);
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ImGui::Text("%f", model->body_mass[id]);
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}
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void JointPropertiesGui(const mjModel* model, const mjData* data,
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mjsElement* element, int id) {
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const mjsJoint* joint = mjs_asJoint(element);
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ImGui::Columns(2);
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ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
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ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
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std::string name = *mjs_getName(joint->element);
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if (name.empty()) {
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name = "(Joint " + std::to_string(id) + ")";
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}
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ImGui::Columns(2);
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ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.3f);
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ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.7f);
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ImGui::Text("Name");
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ImGui::NextColumn();
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ImGui::Text("%s", name.c_str());
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}
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void SitePropertiesGui(const mjModel* model, const mjData* data,
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mjsElement* element, int id) {
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const mjsSite* site = mjs_asSite(element);
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ImGui::Columns(2);
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ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
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ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
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std::string name = *mjs_getName(site->element);
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if (name.empty()) {
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name = "(Joint " + std::to_string(id) + ")";
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}
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ImGui::Columns(2);
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ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.3f);
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ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.7f);
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ImGui::Text("Name");
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ImGui::Text("site_xpos[0]");
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ImGui::Text("site_xpos[1]");
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ImGui::Text("site_xpos[2]");
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ImGui::Text("site_xmat[0]");
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ImGui::Text("site_xmat[1]");
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ImGui::Text("site_xmat[2]");
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ImGui::Text("site_xmat[3]");
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ImGui::Text("site_xmat[4]");
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ImGui::Text("site_xmat[5]");
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ImGui::Text("site_xmat[6]");
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ImGui::Text("site_xmat[7]");
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ImGui::Text("site_xmat[8]");
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ImGui::NextColumn();
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ImGui::Text("%s", name.c_str());
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ImGui::Text("%f", data->site_xpos[3*id+0]);
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ImGui::Text("%f", data->site_xpos[3*id+1]);
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ImGui::Text("%f", data->site_xpos[3*id+2]);
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ImGui::Text("%f", data->site_xmat[4*id+0]);
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ImGui::Text("%f", data->site_xmat[4*id+1]);
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ImGui::Text("%f", data->site_xmat[4*id+2]);
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ImGui::Text("%f", data->site_xmat[4*id+3]);
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ImGui::Text("%f", data->site_xmat[4*id+4]);
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ImGui::Text("%f", data->site_xmat[4*id+5]);
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ImGui::Text("%f", data->site_xmat[4*id+6]);
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ImGui::Text("%f", data->site_xmat[4*id+7]);
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ImGui::Text("%f", data->site_xmat[4*id+8]);
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}
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} // namespace mujoco::platform
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@@ -49,8 +49,13 @@ void SetupTheme(GuiTheme theme);
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// are used to configure the simulation (e.g. PhysicsGui).
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// "Inspector": resizable section of the right; designed for inspecting
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// or manipulating mjData elements (e.g. ControlsGui).
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// "Info": resizable section below the inspector; designed for displaying
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// basic simulation information (e.g. InfoGui); hidden by default.
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// "Explorer": secondary tab connected to the Inspector; designed for
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// displaying the tree of mjSpec elements.
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// "Stats": resizable section below the options; designed for displaying
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// basic simulation statistics (e.g. StatsGui); hidden by default.
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// "Properties": resizable section below the explorer; designed for displaying
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// properties of mjSpec elements (e.g. BodyPropertiesGui); hidden by
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// default.
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//
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// Returns the size and position of the remaining workspace area which can then
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// be used to place additional elements (e.g. floating charts).
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@@ -108,7 +113,15 @@ void CountsGui(const mjModel* model, mjData* data);
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// UX for displaying basic simulation information. Note that the pause state and
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// FPS needs to be tracked by the caller and passed here to be displayed.
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void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps);
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void StatsGui(const mjModel* model, const mjData* data, bool paused, float fps);
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// UX for displaying properties of various mjSpec elements.
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void BodyPropertiesGui(const mjModel* model, const mjData* data,
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mjsElement* element, int id);
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void JointPropertiesGui(const mjModel* model, const mjData* data,
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mjsElement* element, int id);
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void SitePropertiesGui(const mjModel* model, const mjData* data,
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mjsElement* element, int id);
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} // namespace mujoco::platform
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