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First pass at mjSpec Explorer and Properties windows.

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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
2025-12-09 07:27:19 -08:00
committed by Copybara-Service
parent c064abc3da
commit 97eb307ce9
4 changed files with 281 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/platform/gui.cc
+121 -7
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@@ -33,8 +33,8 @@ namespace mujoco::platform {
static constexpr int kToolsBarHeight = 48;
static constexpr int kStatusBarHeight = 32;
static constexpr float kOptionsRelWidth = 0.22f;
static constexpr float kInspectorRelWidth = 0.18f;
static constexpr float kInfoRelHeight = 0.3f;
static constexpr float kInspectorRelWidth = 0.22f;
static constexpr float kStatsRelHeight = 0.3f;
static ImVec2 GetFlexElementSize(int num_cols) {
const float width = (ImGui::GetContentRegionAvail().x / num_cols) -
@@ -83,14 +83,20 @@ ImVec4 ConfigureDockingLayout() {
ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, kInspectorRelWidth,
&inspector, &main);
ImGuiID info = 0;
ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kInfoRelHeight,
&info, &inspector);
ImGuiID stats = 0;
ImGui::DockBuilderSplitNode(options, ImGuiDir_Down, kStatsRelHeight,
&stats, &options);
ImGuiID properties = 0;
ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kStatsRelHeight,
&properties, &inspector);
ImGui::DockBuilderDockWindow("Dockspace", main);
ImGui::DockBuilderDockWindow("Options", options);
ImGui::DockBuilderDockWindow("Explorer", inspector);
ImGui::DockBuilderDockWindow("Inspector", inspector);
ImGui::DockBuilderDockWindow("Info", info);
ImGui::DockBuilderDockWindow("Properties", properties);
ImGui::DockBuilderDockWindow("Stats", stats);
ImGui::DockBuilderFinish(root);
}
@@ -848,7 +854,8 @@ void CountsGui(const mjModel* model, mjData* data) {
}
}
void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps) {
void StatsGui(const mjModel* model, const mjData* data, bool paused,
float fps) {
const int num_islands = std::clamp(data->nisland, 1, mjNISLAND);
// compute solver error (maximum over islands)
@@ -916,4 +923,111 @@ void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps) {
ImGui::Columns();
}
void BodyPropertiesGui(const mjModel* model, const mjData* data,
mjsElement* element, int id) {
const mjsBody* body = mjs_asBody(element);
ImGui::Columns(2);
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
std::string name = *mjs_getName(body->element);
if (name.empty()) {
name = "(Body " + std::to_string(id) + ")";
}
ImGui::Columns(2);
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.3f);
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.7f);
ImGui::Text("Name");
ImGui::Text("xpos[0]");
ImGui::Text("xpos[1]");
ImGui::Text("xpos[2]");
ImGui::Text("xquat[0]");
ImGui::Text("xquat[1]");
ImGui::Text("xquat[2]");
ImGui::Text("xquat[3]");
ImGui::Text("mass");
ImGui::NextColumn();
ImGui::Text("%s", name.c_str());
ImGui::Text("%f", data->xpos[3*id+0]);
ImGui::Text("%f", data->xpos[3*id+1]);
ImGui::Text("%f", data->xpos[3*id+2]);
ImGui::Text("%f", data->xquat[4*id+0]);
ImGui::Text("%f", data->xquat[4*id+1]);
ImGui::Text("%f", data->xquat[4*id+2]);
ImGui::Text("%f", data->xquat[4*id+3]);
ImGui::Text("%f", model->body_mass[id]);
}
void JointPropertiesGui(const mjModel* model, const mjData* data,
mjsElement* element, int id) {
const mjsJoint* joint = mjs_asJoint(element);
ImGui::Columns(2);
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
std::string name = *mjs_getName(joint->element);
if (name.empty()) {
name = "(Joint " + std::to_string(id) + ")";
}
ImGui::Columns(2);
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.3f);
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.7f);
ImGui::Text("Name");
ImGui::NextColumn();
ImGui::Text("%s", name.c_str());
}
void SitePropertiesGui(const mjModel* model, const mjData* data,
mjsElement* element, int id) {
const mjsSite* site = mjs_asSite(element);
ImGui::Columns(2);
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
std::string name = *mjs_getName(site->element);
if (name.empty()) {
name = "(Joint " + std::to_string(id) + ")";
}
ImGui::Columns(2);
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.3f);
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.7f);
ImGui::Text("Name");
ImGui::Text("site_xpos[0]");
ImGui::Text("site_xpos[1]");
ImGui::Text("site_xpos[2]");
ImGui::Text("site_xmat[0]");
ImGui::Text("site_xmat[1]");
ImGui::Text("site_xmat[2]");
ImGui::Text("site_xmat[3]");
ImGui::Text("site_xmat[4]");
ImGui::Text("site_xmat[5]");
ImGui::Text("site_xmat[6]");
ImGui::Text("site_xmat[7]");
ImGui::Text("site_xmat[8]");
ImGui::NextColumn();
ImGui::Text("%s", name.c_str());
ImGui::Text("%f", data->site_xpos[3*id+0]);
ImGui::Text("%f", data->site_xpos[3*id+1]);
ImGui::Text("%f", data->site_xpos[3*id+2]);
ImGui::Text("%f", data->site_xmat[4*id+0]);
ImGui::Text("%f", data->site_xmat[4*id+1]);
ImGui::Text("%f", data->site_xmat[4*id+2]);
ImGui::Text("%f", data->site_xmat[4*id+3]);
ImGui::Text("%f", data->site_xmat[4*id+4]);
ImGui::Text("%f", data->site_xmat[4*id+5]);
ImGui::Text("%f", data->site_xmat[4*id+6]);
ImGui::Text("%f", data->site_xmat[4*id+7]);
ImGui::Text("%f", data->site_xmat[4*id+8]);
}
} // namespace mujoco::platform