Add Visualization tab to simulate.

Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9

doc/changelog.rst

@@ -25,10 +25,41 @@ Bug fixes
   which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
 - Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
 
-  - Planes and height-fields respect the `geom_group` and `flg_static` arguments. Before this change, rays would
+  - Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
     intersect planes and height-fields unconditionally.
   - ``flg_static`` now apllies to all static geoms, not just those which are direct children of the world body.
 
+.. youtube:: hqIMTNGaLF4
+   :align: right
+   :width: 240px
+
+Plugins
+^^^^^^^
+
+- Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
+  for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
+  example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
+
+Simulate
+^^^^^^^^
+
+.. youtube:: mXVPbppGk5I
+   :align: right
+   :width: 240px
+
+- Added Visualization tab to simulate UI, corresponding to elements of the :ref:`visual<visual>` MJCF element. After
+  modifying values in the GUI, a saved XML will contain the new values. The modifyable members of
+  :ref:`mjStatistic` (:ref:`extent<statistic-extent>`, :ref:`meansize<statistic-meansize>` and
+  :ref:`center<statistic-center>`) are computed by the compiler and therefore do not have defaults. In order for these
+  attributes to appear in the saved XML, a value must be specified in the loaded XML.
+
+.. image:: images/changelog/simulate_text_width.png
+   :align: right
+   :width: 380px
+   :alt: Before / After
+
+- Increased text width for UI elements in the default spacing. [before / after]:
+
 General
 ^^^^^^^
 
@@ -65,17 +96,6 @@ General
 - Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
   ``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
 
-.. youtube:: hqIMTNGaLF4
-   :align: right
-   :width: 240px
-
-Plugins
-^^^^^^^
-
-- Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
-  for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
-  example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
-
 
 Version 2.3.5 (April 25, 2023)
 ------------------------------

doc/includes/references.h

@@ -1402,6 +1402,7 @@ typedef enum mjtItem_ {           // UI item type
   mjITEM_SLIDERNUM,               // slider, mjtNum value
   mjITEM_EDITINT,                 // editable array, int values
   mjITEM_EDITNUM,                 // editable array, mjtNum values
+  mjITEM_EDITFLOAT,               // editable array, float values
   mjITEM_EDITTXT,                 // editable text
 
   mjNITEM                         // number of item types