Haroon Qureshi
77d1ac10fe
PiperOrigin-RevId: 857024487 Change-Id: I7d3db9ff754374053bcd33ba93c7466253afb58c
1218 lines
46 KiB
C++
1218 lines
46 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "experimental/platform/gui.h"
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#include <algorithm>
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#include <cmath>
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#include <cstdio>
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#include <limits>
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#include <string>
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#include <vector>
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#include <imgui.h>
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#include <imgui_internal.h>
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#include <implot.h>
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#include <mujoco/mujoco.h>
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#include "experimental/platform/helpers.h"
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#include "experimental/platform/imgui_widgets.h"
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namespace mujoco::platform {
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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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ImGui::GetStyle().FramePadding.x * 2;
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return ImVec2(width, 0);
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}
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void SetupTheme(GuiTheme theme) {
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ImGuiStyle& s = ImGui::GetStyle();
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ImVec4* c = s.Colors;
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if (theme == GuiTheme::kDark) {
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ImGui::StyleColorsDark(&s);
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c[ImGuiCol_Text] = ImVec4(1.00, 1.00, 1.00, 1.00);
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c[ImGuiCol_TextDisabled] = ImVec4(0.40, 0.40, 0.40, 1.00);
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c[ImGuiCol_ChildBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_WindowBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_PopupBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_Border] = ImVec4(0.12, 0.12, 0.12, 0.71);
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c[ImGuiCol_BorderShadow] = ImVec4(1.00, 1.00, 1.00, 0.06);
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c[ImGuiCol_FrameBg] = ImVec4(0.42, 0.42, 0.42, 0.54);
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c[ImGuiCol_FrameBgHovered] = ImVec4(0.42, 0.42, 0.42, 0.40);
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c[ImGuiCol_FrameBgActive] = ImVec4(0.56, 0.56, 0.56, 0.67);
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c[ImGuiCol_TitleBg] = ImVec4(0.19, 0.19, 0.19, 1.00);
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c[ImGuiCol_TitleBgActive] = ImVec4(0.22, 0.22, 0.22, 1.00);
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c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.17, 0.17, 0.17, 0.90);
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c[ImGuiCol_MenuBarBg] = ImVec4(0.34, 0.34, 0.34, 1.00);
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c[ImGuiCol_ScrollbarBg] = ImVec4(0.24, 0.24, 0.24, 0.53);
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c[ImGuiCol_ScrollbarGrab] = ImVec4(0.41, 0.41, 0.41, 1.00);
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c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.52, 0.52, 0.52, 1.00);
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c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
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c[ImGuiCol_CheckMark] = ImVec4(0.65, 0.65, 0.65, 1.00);
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c[ImGuiCol_SliderGrab] = ImVec4(0.52, 0.52, 0.52, 1.00);
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c[ImGuiCol_SliderGrabActive] = ImVec4(0.64, 0.64, 0.64, 1.00);
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c[ImGuiCol_Button] = ImVec4(0.54, 0.54, 0.54, 0.35);
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c[ImGuiCol_ButtonHovered] = ImVec4(0.52, 0.52, 0.52, 0.59);
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c[ImGuiCol_ButtonActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
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c[ImGuiCol_Header] = ImVec4(0.38, 0.38, 0.38, 1.00);
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c[ImGuiCol_HeaderHovered] = ImVec4(0.47, 0.47, 0.47, 1.00);
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c[ImGuiCol_HeaderActive] = ImVec4(0.76, 0.76, 0.76, 0.77);
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c[ImGuiCol_Separator] = ImVec4(0.00, 0.00, 0.00, 0.18);
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c[ImGuiCol_SeparatorHovered] = ImVec4(0.70, 0.67, 0.60, 0.29);
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c[ImGuiCol_SeparatorActive] = ImVec4(0.70, 0.67, 0.60, 0.67);
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c[ImGuiCol_ResizeGrip] = ImVec4(0.26, 0.59, 0.98, 0.25);
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c[ImGuiCol_ResizeGripHovered] = ImVec4(0.26, 0.59, 0.98, 0.67);
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c[ImGuiCol_ResizeGripActive] = ImVec4(0.26, 0.59, 0.98, 0.95);
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c[ImGuiCol_PlotLines] = ImVec4(0.61, 0.61, 0.61, 1.00);
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c[ImGuiCol_PlotLinesHovered] = ImVec4(1.00, 0.43, 0.35, 1.00);
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c[ImGuiCol_PlotHistogram] = ImVec4(0.90, 0.70, 0.00, 1.00);
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c[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00, 0.60, 0.00, 1.00);
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c[ImGuiCol_TextSelectedBg] = ImVec4(0.73, 0.73, 0.73, 0.35);
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c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.80, 0.80, 0.80, 0.35);
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c[ImGuiCol_DragDropTarget] = ImVec4(1.00, 1.00, 0.00, 0.90);
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c[ImGuiCol_NavHighlight] = ImVec4(0.26, 0.59, 0.98, 1.00);
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c[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00, 1.00, 1.00, 0.70);
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c[ImGuiCol_NavWindowingDimBg] = ImVec4(0.80, 0.80, 0.80, 0.20);
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c[ImGuiCol_DockingEmptyBg] = ImVec4(0.38, 0.38, 0.38, 1.00);
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c[ImGuiCol_Tab] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_TabHovered] = ImVec4(0.40, 0.40, 0.40, 1.00);
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c[ImGuiCol_TabActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
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c[ImGuiCol_TabUnfocused] = ImVec4(0.25, 0.25, 0.25, 1.00);
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c[ImGuiCol_TabUnfocusedActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
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c[ImGuiCol_DockingPreview] = ImVec4(0.85, 0.85, 0.85, 0.28);
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c[ImGuiCol_WindowBg].w = 1.0f;
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} else if (theme == GuiTheme::kLight) {
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ImGui::StyleColorsLight(&s);
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ImVec4 white = ImVec4(1.00, 1.00, 1.00, 1.00);
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ImVec4 transparent = ImVec4(0.00, 0.00, 0.00, 0.00);
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ImVec4 dark = ImVec4(0.00, 0.00, 0.00, 0.20);
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ImVec4 darker = ImVec4(0.00, 0.00, 0.00, 0.50);
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ImVec4 background = ImVec4(0.95, 0.95, 0.95, 1.00);
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ImVec4 text = ImVec4(0.10, 0.10, 0.10, 1.00);
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ImVec4 border = ImVec4(0.60, 0.60, 0.60, 1.00);
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ImVec4 grab = ImVec4(0.69, 0.69, 0.69, 1.00);
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ImVec4 header = ImVec4(0.86, 0.86, 0.86, 1.00);
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ImVec4 active = ImVec4(0.00, 0.47, 0.84, 1.00);
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ImVec4 hover = ImVec4(0.00, 0.47, 0.84, 0.20);
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c[ImGuiCol_Text] = text;
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c[ImGuiCol_WindowBg] = background;
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c[ImGuiCol_ChildBg] = background;
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c[ImGuiCol_PopupBg] = white;
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c[ImGuiCol_Border] = border;
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c[ImGuiCol_BorderShadow] = transparent;
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c[ImGuiCol_Button] = header;
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c[ImGuiCol_ButtonHovered] = hover;
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c[ImGuiCol_ButtonActive] = active;
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c[ImGuiCol_FrameBg] = white;
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c[ImGuiCol_FrameBgHovered] = hover;
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c[ImGuiCol_FrameBgActive] = active;
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c[ImGuiCol_MenuBarBg] = header;
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c[ImGuiCol_Header] = header;
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c[ImGuiCol_HeaderHovered] = hover;
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c[ImGuiCol_HeaderActive] = active;
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c[ImGuiCol_CheckMark] = text;
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c[ImGuiCol_SliderGrab] = grab;
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c[ImGuiCol_SliderGrabActive] = darker;
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c[ImGuiCol_ScrollbarBg] = header;
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c[ImGuiCol_ScrollbarGrab] = grab;
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c[ImGuiCol_ScrollbarGrabHovered] = dark;
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c[ImGuiCol_ScrollbarGrabActive] = darker;
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} else {
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ImGui::StyleColorsDark(&s);
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ImVec4 black = ImVec4(0.00, 0.00, 0.00, 1.0);
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ImVec4 window = ImVec4(0.25, 0.25, 0.25, 1.0);
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ImVec4 font_active = ImVec4(1.00, 1.00, 1.00, 1.0);
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ImVec4 font_inactive = ImVec4(0.50, 0.50, 0.50, 1.0);
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ImVec4 thumb = ImVec4(0.12, 0.12, 0.12, 1.0);
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ImVec4 section = ImVec4(0.40, 0.15, 0.15, 1.0);
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ImVec4 button = ImVec4(0.60, 0.40, 0.40, 1.0);
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ImVec4 check = ImVec4(0.40, 0.40, 0.70, 1.0);
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ImVec4 frame = ImVec4(0.40, 0.30, 0.40, 1.0);
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ImVec4 slider = ImVec4(0.60, 0.40, 0.60, 1.0);
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c[ImGuiCol_WindowBg] = window;
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c[ImGuiCol_ChildBg] = black;
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c[ImGuiCol_PopupBg] = window;
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c[ImGuiCol_Text] = font_active;
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c[ImGuiCol_TextDisabled] = font_inactive;
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c[ImGuiCol_CheckMark] = font_active;
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c[ImGuiCol_Header] = section;
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c[ImGuiCol_HeaderHovered] = section;
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c[ImGuiCol_HeaderActive] = section;
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c[ImGuiCol_TitleBgActive] = window;
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c[ImGuiCol_ScrollbarBg] = window;
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c[ImGuiCol_ScrollbarGrab] = thumb;
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c[ImGuiCol_ScrollbarGrabHovered] = thumb;
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c[ImGuiCol_ScrollbarGrabActive] = thumb;
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c[ImGuiCol_FrameBg] = frame;
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c[ImGuiCol_FrameBgHovered] = frame;
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c[ImGuiCol_FrameBgActive] = frame;
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c[ImGuiCol_SliderGrab] = slider;
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c[ImGuiCol_SliderGrabActive] = slider;
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c[ImGuiCol_Button] = window;
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c[ImGuiCol_ButtonHovered] = button;
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c[ImGuiCol_ButtonActive] = button;
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c[ImGuiCol_Tab] = window;
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c[ImGuiCol_TabHovered] = check;
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c[ImGuiCol_TabSelected] = check;
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c[ImGuiCol_TabDimmed] = window;
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c[ImGuiCol_TabDimmedSelected] = check;
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}
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int hspacing = 4;
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int vspacing = 6;
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float rounding = 4.0f;
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s.DisplaySafeAreaPadding = ImVec2(0, 0);
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s.WindowPadding = ImVec2(hspacing, vspacing);
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s.FramePadding = ImVec2(hspacing, vspacing);
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s.ItemSpacing = ImVec2(hspacing, vspacing);
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s.ItemInnerSpacing = ImVec2(hspacing, vspacing);
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s.WindowRounding = rounding;
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s.FrameRounding = rounding;
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s.TabRounding = rounding;
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s.ScrollbarRounding = rounding;
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s.ChildRounding = rounding;
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s.GrabRounding = rounding;
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s.PopupRounding = rounding;
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s.WindowBorderSize = 0.0f;
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s.FrameBorderSize = 1.0f;
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s.PopupBorderSize = 1.0f;
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s.IndentSpacing = 20.0f;
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s.ScrollbarSize = 12.0f;
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s.GrabMinSize = 5.0f;
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s.WindowMenuButtonPosition = ImGuiDir_None;
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s.TabCloseButtonMinWidthSelected = 0.0f;
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s.DockingNodeHasCloseButton = false;
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}
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ImVec4 ConfigureDockingLayout() {
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ImGuiViewport* viewport = ImGui::GetMainViewport();
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const float scale = ImGui::GetWindowDpiScale();
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const float kOptionsRelWidth = 0.22f;
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const float kInspectorRelWidth = 0.22f;
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const float kStatsRelHeight = 0.3f;
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const float kToolsBarHeight = 48.f * scale;
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const float kStatusBarHeight = 32.f * scale;
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const ImVec2 dockspace_pos{
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viewport->WorkPos.x,
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viewport->WorkPos.y + kToolsBarHeight
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};
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const ImVec2 dockspace_size{
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viewport->WorkSize.x,
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viewport->WorkSize.y - kToolsBarHeight - kStatusBarHeight
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};
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ImGuiID root = ImGui::GetID("Root");
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const bool first_time = (ImGui::DockBuilderGetNode(root) == nullptr);
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if (first_time) {
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ImGui::DockBuilderRemoveNode(root);
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ImGui::DockBuilderAddNode(root, ImGuiDockNodeFlags_DockSpace);
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ImGui::DockBuilderSetNodeSize(root, dockspace_size);
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// Slice up the main dock space.
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ImGuiID main = root;
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ImGuiID options = 0;
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ImGui::DockBuilderSplitNode(main, ImGuiDir_Left, kOptionsRelWidth,
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&options, &main);
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ImGuiID inspector = 0;
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ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, kInspectorRelWidth,
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&inspector, &main);
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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("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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// Create a dummy window filling the entire workspace in which we can perform
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// docking.
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ImGui::SetNextWindowPos(dockspace_pos);
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ImGui::SetNextWindowSize(dockspace_size);
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ImGui::SetNextWindowViewport(viewport->ID);
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const ImGuiWindowFlags kWorkspaceFlags =
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ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoCollapse |
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ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
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ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_NoBringToFrontOnFocus |
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ImGuiWindowFlags_NoNavFocus | ImGuiWindowFlags_NoBackground;
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const ImGuiWindowFlags kFixedFlags = ImGuiWindowFlags_NoTitleBar |
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ImGuiWindowFlags_NoMove |
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ImGuiWindowFlags_NoResize |
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ImGuiWindowFlags_NoScrollbar |
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ImGuiWindowFlags_NoDocking;
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// Main workspace area in which we can dock other windows.
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{
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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style.Var(ImGuiStyleVar_WindowBorderSize, 0.0f);
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style.Var(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
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ImGui::Begin("Dockspace", nullptr, kWorkspaceFlags);
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const ImGuiDockNodeFlags kDockSpaceFlags =
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ImGuiDockNodeFlags_PassthruCentralNode |
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ImGuiDockNodeFlags_NoDockingOverCentralNode |
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ImGuiDockNodeFlags_AutoHideTabBar;
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ImGui::DockSpace(root, ImVec2(0.0f, 0.0f), kDockSpaceFlags);
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ImGui::End();
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}
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// Toolbar is fixed at the top.
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{
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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ImGui::SetNextWindowPos(viewport->WorkPos, ImGuiCond_Always);
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ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight), ImGuiCond_Always);
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ImGui::Begin("ToolBar", nullptr, kFixedFlags);
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ImGui::End();
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}
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// StatusBar is fixed at the bottom.
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{
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platform::ScopedStyle style;
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style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
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style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
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ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight), ImGuiCond_Always);
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ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight), ImGuiCond_Always);
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ImGui::Begin("StatusBar", nullptr, kFixedFlags);
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ImGui::End();
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}
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const int settings_width = dockspace_size.x * kOptionsRelWidth;
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const int inspector_width = dockspace_size.x * kInspectorRelWidth;
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const float workspace_x = dockspace_pos.x + settings_width;
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const float workspace_y = dockspace_pos.y;
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const float workspace_w = dockspace_size.x - settings_width - inspector_width;
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const float workspace_h = dockspace_size.y;
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return ImVec4(workspace_x, workspace_y, workspace_w, workspace_h);
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}
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void SensorGui(const mjModel* model, const mjData* data) {
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if (model->nsensor == 0) {
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return;
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}
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ImPlot::PushStyleVar(ImPlotStyleVar_FitPadding, ImVec2(0.1f, 0.1f));
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if (ImPlot::BeginPlot("Sensors", ImVec2(-1, 0),
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ImPlotFlags_NoLegend | ImPlotFlags_NoMouseText)) {
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ImPlot::SetupLegend(ImPlotLocation_NorthEast, ImPlotLegendFlags_None);
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ImPlot::SetupAxis(ImAxis_X1, "sensor",
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ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoLabel);
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ImPlot::SetupAxisLimits(ImAxis_X1, 0, 5, ImPlotCond_Once);
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ImPlot::SetupAxis(ImAxis_Y1, "value",
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ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoLabel);
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ImPlot::SetupAxisFormat(ImAxis_Y1, "%.1f");
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ImPlot::SetupAxisLimits(ImAxis_Y1, -100, 100, ImPlotCond_Once);
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ImPlot::SetupFinish();
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// The values to be plotted.
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std::vector<ImPlotPoint> sensor_values;
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// The x-value of the bar to be plotted. Multiple bars will belong to the
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// same sensor (i.e. the sensor_dim), but each group of bars will be appear
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// in sequence along the x-axis.
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float x_value = 0.f;
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// The index of the sensor being plotted, based on sensor_type.
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int sensor_index = 0;
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// Function that plots the current group of sensor bars.
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auto plot_lines = [](int sensor_idx, const ImPlotPoint* values, int count) {
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constexpr float bar_weight = 5.0f;
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ImPlot::SetNextLineStyle(IMPLOT_AUTO_COL, bar_weight);
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std::string sensor_label = "Sensor " + std::to_string(sensor_idx);
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ImPlot::PlotLine(sensor_label.c_str(), &values->x, &values->y, count,
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ImPlotLineFlags_Segments, 0, 2 * sizeof(double));
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};
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for (int n = 0; n < model->nsensor; n++) {
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if (n > 0 && model->sensor_type[n] != model->sensor_type[n - 1]) {
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plot_lines(sensor_index, sensor_values.data(), sensor_values.size());
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sensor_values.clear();
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++sensor_index;
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}
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const int adr = model->sensor_adr[n];
|
|
const int dim = model->sensor_dim[n];
|
|
const mjtNum cutoff =
|
|
(model->sensor_cutoff[n] > 0 ? model->sensor_cutoff[n] : 1);
|
|
for (int i = 0; i < dim; ++i) {
|
|
sensor_values.push_back({x_value, 0});
|
|
sensor_values.push_back({x_value, data->sensordata[adr + i] / cutoff});
|
|
x_value += 1.f;
|
|
}
|
|
}
|
|
|
|
// Ensure the last group of sensors is plotted.
|
|
plot_lines(sensor_index, sensor_values.data(), sensor_values.size());
|
|
ImPlot::EndPlot();
|
|
}
|
|
ImPlot::PopStyleVar();
|
|
}
|
|
|
|
void StateGui(const mjModel* model, mjData* data, std::vector<mjtNum>& state,
|
|
int& state_sig, float min_width) {
|
|
const float available_width =
|
|
ImGui::GetContentRegionAvail().x - ImGui::GetTreeNodeToLabelSpacing();
|
|
const int num_cols = std::clamp(
|
|
static_cast<int>(std::floor(available_width / min_width)), 1, 4);
|
|
const ImVec2 size = GetFlexElementSize(num_cols);
|
|
|
|
ImGui::Unindent(0.5f * ImGui::GetTreeNodeToLabelSpacing());
|
|
// State component names and tooltips.
|
|
static constexpr const char* name_and_tooltip[][2] = {
|
|
{"TIME", "Time"},
|
|
{"QPOS", "Position"},
|
|
{"QVEL", "Velocity"},
|
|
{"ACT", "Actuator activation"},
|
|
{"WARMSTART", "Acceleration used for warmstart"},
|
|
{"CTRL", "Control"},
|
|
{"QFRC_APPLIED", "Applied generalized force"},
|
|
{"XFRC_APPLIED", "Applied Cartesian force/torque"},
|
|
{"EQ_ACTIVE", "Enable/disable constraints"},
|
|
{"MOCAP_POS", "Positions of mocap bodies"},
|
|
{"MOCAP_QUAT", "Orientations of mocap bodies"},
|
|
{"USERDATA", "User data"},
|
|
{"PLUGIN", "Plugin state"},
|
|
};
|
|
|
|
int prev_state_sig = state_sig;
|
|
|
|
// State component checkboxes.
|
|
if (ImGui::BeginTable("##StateSignature", num_cols)) {
|
|
for (int i = 0; i < mjNSTATE; ++i) {
|
|
ImGui::TableNextColumn();
|
|
bool checked = state_sig & (1 << i);
|
|
ImGui::Checkbox(name_and_tooltip[i][0], &checked);
|
|
if (ImGui::IsItemHovered()) {
|
|
ImGui::SetTooltip("%s", name_and_tooltip[i][1]);
|
|
}
|
|
state_sig = checked ? (state_sig | (1 << i)) : (state_sig & ~(1 << i));
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
|
|
// Buttons to select commonly used state signatures.
|
|
if (ImGui::BeginTable("##CommonSignatures", num_cols)) {
|
|
ImGui::TableNextColumn();
|
|
if (ImGui::Button("Physics", size)) {
|
|
state_sig = (state_sig == mjSTATE_PHYSICS) ? 0 : mjSTATE_PHYSICS;
|
|
}
|
|
ImGui::TableNextColumn();
|
|
if (ImGui::Button("Full Physics", size)) {
|
|
state_sig = (state_sig == mjSTATE_FULLPHYSICS) ? 0 : mjSTATE_FULLPHYSICS;
|
|
}
|
|
ImGui::TableNextColumn();
|
|
if (ImGui::Button("User", size)) {
|
|
state_sig = (state_sig == mjSTATE_USER) ? 0 : mjSTATE_USER;
|
|
}
|
|
ImGui::TableNextColumn();
|
|
if (ImGui::Button("Integration", size)) {
|
|
state_sig = (state_sig == mjSTATE_INTEGRATION) ? 0 : mjSTATE_INTEGRATION;
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
|
|
if (state_sig != prev_state_sig) {
|
|
const int size = mj_stateSize(model, state_sig);
|
|
state.resize(size);
|
|
}
|
|
|
|
if (state.empty()) {
|
|
// The state size is 0, let the user know why.
|
|
ImGui::Separator();
|
|
ImGui::BeginDisabled();
|
|
ImGui::TextWrapped(
|
|
state_sig == 0
|
|
? "No state components are selected."
|
|
: "Selected state components do not exist in the model.");
|
|
ImGui::EndDisabled();
|
|
} else {
|
|
mj_getState(model, data, state.data(), state_sig);
|
|
bool changed = false;
|
|
|
|
if (ImGui::BeginTable(
|
|
"State", 3,
|
|
ImGuiTableFlags_RowBg | ImGuiTableFlags_BordersOuter |
|
|
ImGuiTableFlags_BordersV | ImGuiTableFlags_Resizable |
|
|
ImGuiTableFlags_ScrollY,
|
|
ImVec2(0, ImGui::GetTextLineHeightWithSpacing() * 20))) {
|
|
ImGui::TableSetupColumn("Index");
|
|
ImGui::TableSetupColumn("Name");
|
|
ImGui::TableSetupColumn("Value");
|
|
ImGui::TableSetupScrollFreeze(0, 1);
|
|
ImGui::TableHeadersRow();
|
|
|
|
ImGuiListClipper clipper;
|
|
clipper.Begin(state.size());
|
|
while (clipper.Step()) {
|
|
int global = 0;
|
|
for (int i = 0; i < mjNSTATE; ++i) {
|
|
if (state_sig & (1 << i)) {
|
|
for (int local = 0; local < mj_stateSize(model, (1 << i));
|
|
++local, ++global) {
|
|
if (global < clipper.DisplayStart) {
|
|
continue;
|
|
}
|
|
if (global >= clipper.DisplayEnd) {
|
|
break;
|
|
}
|
|
ImGui::TableNextRow();
|
|
|
|
ImGui::TableNextColumn();
|
|
ImGui::Text("%d", global);
|
|
|
|
ImGui::TableNextColumn();
|
|
ImGui::Text("%s[%d]", name_and_tooltip[i][0], local);
|
|
|
|
ImGui::TableNextColumn();
|
|
float value = state[global];
|
|
ImGui::PushItemWidth(-std::numeric_limits<float>::min());
|
|
ImGui::PushID(global);
|
|
if (ImGui::DragFloat("##value", &value, 0.01f, 0, 0, "%.3f")) {
|
|
changed = true;
|
|
}
|
|
ImGui::PopID();
|
|
ImGui::PopItemWidth();
|
|
state[global] = value;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
|
|
if (changed) {
|
|
mj_setState(model, data, state.data(), state_sig);
|
|
}
|
|
}
|
|
|
|
ImGui::Indent(0.5f * ImGui::GetTreeNodeToLabelSpacing());
|
|
}
|
|
|
|
void WatchGui(const mjModel* model, const mjData* data, char* field_name,
|
|
int field_len, int& field_index) {
|
|
const float item_width = ImGui::GetWindowWidth() * .6f;
|
|
ImGui::PushItemWidth(item_width);
|
|
|
|
ImGui::InputText("Field", field_name, field_len);
|
|
ImGui::InputInt("Index", &field_index);
|
|
const mjtNum* value = static_cast<const mjtNum*>(
|
|
GetValue(model, data, field_name, field_index));
|
|
|
|
ScopedStyle style;
|
|
style.Color(ImGuiCol_FrameBg, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]);
|
|
|
|
if (value) {
|
|
char buf[100];
|
|
int size = std::snprintf(buf, sizeof(buf), "%0.3f", *value);
|
|
ImGui::InputText("Value", buf, size, ImGuiInputTextFlags_ReadOnly);
|
|
} else {
|
|
ImGui::BeginDisabled();
|
|
style.Color(ImGuiCol_Text, ImColor(255, 0, 0, 255));
|
|
char buf[] = "Invalid field/index!";
|
|
ImGui::InputText("Value", buf, sizeof(buf), ImGuiInputTextFlags_ReadOnly);
|
|
ImGui::EndDisabled();
|
|
}
|
|
|
|
ImGui::PopItemWidth();
|
|
}
|
|
|
|
void PhysicsGui(mjModel* model, float min_width) {
|
|
const float available_width =
|
|
ImGui::GetContentRegionAvail().x - ImGui::GetTreeNodeToLabelSpacing();
|
|
const int num_cols = std::clamp(
|
|
static_cast<int>(std::floor(available_width / min_width)), 1, 6);
|
|
|
|
const float item_width = ImGui::GetWindowWidth() * .6f;
|
|
ImGui::PushItemWidth(item_width);
|
|
|
|
auto& opt = model->opt;
|
|
|
|
const char* opts0[] = {"Euler", "RK4", "implicit", "implicitfast"};
|
|
ImGui::Combo("Integrator", &opt.integrator, opts0, IM_ARRAYSIZE(opts0));
|
|
|
|
const char* opts1[] = {"Pyramidal", "Elliptic"};
|
|
ImGui::Combo("Cone", &opt.cone, opts1, IM_ARRAYSIZE(opts1));
|
|
|
|
const char* opts2[] = {"Dense", "Sparse", "Auto"};
|
|
ImGui::Combo("Jacobian", &opt.jacobian, opts2, IM_ARRAYSIZE(opts2));
|
|
|
|
const char* opts3[] = {"PGS", "CG", "Newton"};
|
|
ImGui::Combo("Solver", &opt.solver, opts3, IM_ARRAYSIZE(opts3));
|
|
|
|
if (ImGui::TreeNodeEx("Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
|
|
if (ImGui::BeginTable("##PhysicsFlagsTable", num_cols)) {
|
|
const ImVec2 size = GetFlexElementSize(num_cols);
|
|
for (int i = 0; i < mjNDISABLE; ++i) {
|
|
ImGui::TableNextColumn();
|
|
int flipped = ~opt.disableflags;
|
|
ImGui_BitToggle(mjDISABLESTRING[i], &flipped, 1 << i, size);
|
|
opt.disableflags = ~flipped;
|
|
}
|
|
for (int i = 0; i < mjNENABLE; ++i) {
|
|
ImGui::TableNextColumn();
|
|
ImGui_BitToggle(mjENABLESTRING[i], &opt.enableflags, 1 << i, size);
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
ImGui::TreePop();
|
|
}
|
|
|
|
if (ImGui::TreeNodeEx("Actuator Groups")) {
|
|
if (ImGui::BeginTable("##ActuatorGroupsTable", num_cols)) {
|
|
const ImVec2 size = GetFlexElementSize(num_cols);
|
|
for (int i = 0; i < 6; ++i) {
|
|
char label[64];
|
|
std::snprintf(label, sizeof(label), "Act Group %d", i);
|
|
ImGui::TableNextColumn();
|
|
int flipped = ~opt.disableactuator;
|
|
ImGui_BitToggle(label, &flipped, 1 << i, size);
|
|
opt.disableactuator = ~flipped;
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
ImGui::TreePop();
|
|
};
|
|
|
|
if (ImGui::TreeNodeEx("Algorithmic Parameters")) {
|
|
ImGui_Input("Timestep", &opt.timestep, {0, 1, 0.01, 0.1});
|
|
ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10});
|
|
ImGui_Input("Tolerance", &opt.tolerance, {0, 1, 1e-7, 1e-6});
|
|
ImGui_Input("LS Iter", &opt.ls_iterations, {0, 100, 1, 0.1});
|
|
ImGui_Input("LS Tol", &opt.ls_tolerance, {0, 0.1, 0.01, 0.1});
|
|
ImGui_Input("Noslip Iter", &opt.noslip_iterations, {0, 1000, 1, 100});
|
|
ImGui_Input("Noslip Tol", &opt.noslip_tolerance, {0, 1, 0.01, 0.1});
|
|
ImGui_Input("CCD Iter", &opt.ccd_iterations, {0, 1000, 1, 100});
|
|
ImGui_Input("CCD Tol", &opt.ccd_tolerance, {0, 1, 0.01, 0.1});
|
|
ImGui_Input("Sleep Tol", &opt.sleep_tolerance, {0, 1, 0.01, 0.1});
|
|
ImGui_Input("SDF Iter", &opt.sdf_iterations, {1, 20, 1, 10});
|
|
ImGui_Input("SDF Init", &opt.sdf_initpoints, {1, 100, 1, 10});
|
|
ImGui::TreePop();
|
|
}
|
|
|
|
if (ImGui::TreeNodeEx("Physical Parameters")) {
|
|
ImGui_InputN("Gravity", opt.gravity, 3);
|
|
ImGui_InputN("Wind", opt.wind, 3);
|
|
ImGui_InputN("Magnetic", opt.magnetic, 3);
|
|
ImGui_Input("Density", &opt.density, {.min = .1, .max = 1});
|
|
ImGui_Input("Viscosity", &opt.viscosity, {.min = .1, .max = 1});
|
|
ImGui_Input("Imp Ratio", &opt.impratio, {.min = .1, .max = 1});
|
|
ImGui::TreePop();
|
|
};
|
|
|
|
if (ImGui::TreeNodeEx("Contact Override")) {
|
|
ImGui_Input("Margin", &opt.o_margin, {.min = 0.1, .max = 1});
|
|
ImGui_InputN("Sol Imp", opt.o_solimp, 5, {.format = "%0.1f"});
|
|
ImGui_InputN("Sol Ref", opt.o_solref, 2, {.format = "%0.1f"});
|
|
ImGui_InputN("Friction", opt.o_friction, 5, {.format = "%.1f"});
|
|
ImGui::TreePop();
|
|
}
|
|
|
|
ImGui::PopItemWidth();
|
|
}
|
|
|
|
void VisualizationGui(mjModel* model, mjvOption* vis_options, mjvCamera* camera,
|
|
float min_width) {
|
|
auto& vis = model->vis;
|
|
auto& stat = model->stat;
|
|
|
|
const float item_width = ImGui::GetWindowWidth() * .6f;
|
|
ImGui::PushItemWidth(item_width);
|
|
|
|
ImGui::SliderInt("Tree depth", &vis_options->bvh_depth, 0, 20);
|
|
ImGui::SliderInt("Flex layer", &vis_options->flex_layer, 0, 10);
|
|
|
|
if (ImGui::TreeNodeEx("Headlight")) {
|
|
ImGui_SwitchToggle("Active", &vis.headlight.active);
|
|
ImGui::ColorEdit3("Ambient", vis.headlight.ambient);
|
|
ImGui::ColorEdit3("Diffuse", vis.headlight.diffuse);
|
|
ImGui::ColorEdit3("Specular", vis.headlight.specular);
|
|
ImGui::TreePop();
|
|
}
|
|
if (ImGui::TreeNodeEx("Free Camera")) {
|
|
ImGui_SwitchToggle("Orthographic", &vis.global.orthographic);
|
|
ImGui_Input("FOV", &vis.global.fovy, {.format = "%0.2f"});
|
|
ImGui_InputN("Center", stat.center, 3, {.format = "%0.2f"});
|
|
ImGui_Input("Azimuth", &vis.global.azimuth, {.format = "%0.2f"});
|
|
ImGui_Input("Elevation", &vis.global.elevation, {.format = "%0.2f"});
|
|
if (ImGui::Button("Align")) {
|
|
mjv_defaultFreeCamera(model, camera);
|
|
}
|
|
ImGui::TreePop();
|
|
}
|
|
if (ImGui::TreeNodeEx("Global")) {
|
|
ImGui_Input("Extent", &stat.extent);
|
|
const char* opts[] = {"Box", "Ellipsoid"};
|
|
ImGui::SliderInt("Inertia", &vis.global.ellipsoidinertia, 0, 1,
|
|
opts[vis.global.ellipsoidinertia]);
|
|
ImGui_ButtonToggle("BVH active", &vis.global.bvactive);
|
|
ImGui::TreePop();
|
|
}
|
|
if (ImGui::TreeNodeEx("Mapping")) {
|
|
ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.3f);
|
|
ImGui_Input("Stiffness", &vis.map.stiffness);
|
|
ImGui_Input("Rot stiffness", &vis.map.stiffnessrot);
|
|
ImGui_Input("Force", &vis.map.force);
|
|
ImGui_Input("Torque", &vis.map.torque);
|
|
ImGui_Input("Alpha", &vis.map.alpha);
|
|
ImGui_Input("Fog start", &vis.map.fogstart);
|
|
ImGui_Input("Fog end", &vis.map.fogend);
|
|
ImGui_Input("Z near", &vis.map.znear);
|
|
ImGui_Input("Z far", &vis.map.zfar);
|
|
ImGui_Input("Haze", &vis.map.haze);
|
|
ImGui_Input("Shadow clip", &vis.map.shadowclip);
|
|
ImGui_Input("Shadow scale", &vis.map.shadowscale);
|
|
ImGui::PopItemWidth();
|
|
ImGui::TreePop();
|
|
}
|
|
if (ImGui::TreeNodeEx("Scale")) {
|
|
ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.3f);
|
|
ImGui_Input("All (meansize)", &stat.meansize, {.format = "%0.3f"});
|
|
ImGui_Input("Force width", &vis.scale.forcewidth);
|
|
ImGui_Input("Contact width", &vis.scale.contactwidth);
|
|
ImGui_Input("Contact height", &vis.scale.contactheight);
|
|
ImGui_Input("Connect", &vis.scale.connect);
|
|
ImGui_Input("Com", &vis.scale.com);
|
|
ImGui_Input("Camera", &vis.scale.camera);
|
|
ImGui_Input("Light", &vis.scale.light);
|
|
ImGui_Input("Select point", &vis.scale.selectpoint);
|
|
ImGui_Input("Joint length", &vis.scale.jointlength);
|
|
ImGui_Input("Joint width", &vis.scale.jointwidth);
|
|
ImGui_Input("Actuator length", &vis.scale.actuatorlength);
|
|
ImGui_Input("Actuator width", &vis.scale.actuatorwidth);
|
|
ImGui_Input("Frame length", &vis.scale.framelength);
|
|
ImGui_Input("Frame width", &vis.scale.framewidth);
|
|
ImGui_Input("Constraint", &vis.scale.constraint);
|
|
ImGui_Input("Slider-crank", &vis.scale.slidercrank);
|
|
ImGui::PopItemWidth();
|
|
ImGui::TreePop();
|
|
}
|
|
if (ImGui::TreeNodeEx("Colors")) {
|
|
ImGui::ColorEdit4("Fog", vis.rgba.fog);
|
|
ImGui::ColorEdit4("Haze", vis.rgba.haze);
|
|
ImGui::ColorEdit4("Force", vis.rgba.force);
|
|
ImGui::ColorEdit4("Inertia", vis.rgba.inertia);
|
|
ImGui::ColorEdit4("Joint", vis.rgba.joint);
|
|
ImGui::ColorEdit4("Actuator", vis.rgba.actuator);
|
|
ImGui::ColorEdit4("Act. Negative", vis.rgba.actuatornegative);
|
|
ImGui::ColorEdit4("Act. Positive", vis.rgba.actuatorpositive);
|
|
ImGui::ColorEdit4("Center of Mass", vis.rgba.com);
|
|
ImGui::ColorEdit4("Camera", vis.rgba.camera);
|
|
ImGui::ColorEdit4("Light", vis.rgba.light);
|
|
ImGui::ColorEdit4("Select Point", vis.rgba.selectpoint);
|
|
ImGui::ColorEdit4("Auto Connect", vis.rgba.connect);
|
|
ImGui::ColorEdit4("Contact Point", vis.rgba.contactpoint);
|
|
ImGui::ColorEdit4("Contact Force", vis.rgba.contactforce);
|
|
ImGui::ColorEdit4("Contact Friction", vis.rgba.contactfriction);
|
|
ImGui::ColorEdit4("Contact Torque", vis.rgba.contacttorque);
|
|
ImGui::ColorEdit4("Contact Gap", vis.rgba.contactgap);
|
|
ImGui::ColorEdit4("Range Finder", vis.rgba.rangefinder);
|
|
ImGui::ColorEdit4("Constraint", vis.rgba.constraint);
|
|
ImGui::ColorEdit4("Slider Crank", vis.rgba.slidercrank);
|
|
ImGui::ColorEdit4("Crank Broken", vis.rgba.crankbroken);
|
|
ImGui::ColorEdit4("Frustum", vis.rgba.frustum);
|
|
ImGui::ColorEdit4("Bounding Vol.", vis.rgba.bv);
|
|
ImGui::ColorEdit4("BV Active", vis.rgba.bvactive);
|
|
ImGui::TreePop();
|
|
}
|
|
|
|
ImGui::PopItemWidth();
|
|
}
|
|
|
|
void RenderingGui(const mjModel* model, mjvOption* vis_options,
|
|
mjtByte* render_flags, float min_width) {
|
|
const float available_width =
|
|
ImGui::GetContentRegionAvail().x - ImGui::GetTreeNodeToLabelSpacing();
|
|
const int num_cols = std::clamp(
|
|
static_cast<int>(std::floor(available_width / min_width)), 1, 6);
|
|
|
|
if (ImGui::TreeNodeEx("Model Elements", ImGuiTreeNodeFlags_DefaultOpen)) {
|
|
ImGui::Unindent(ImGui::GetTreeNodeToLabelSpacing() / 2);
|
|
|
|
if (ImGui::BeginTable("##ModelElementsTable", num_cols)) {
|
|
const ImVec2 size = GetFlexElementSize(num_cols);
|
|
for (int i = 0; i < mjNVISFLAG; ++i) {
|
|
ImGui::TableNextColumn();
|
|
ImGui_ButtonToggle(mjVISSTRING[i][0], &vis_options->flags[i], size);
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
|
|
ImGui::Indent(ImGui::GetTreeNodeToLabelSpacing() / 2);
|
|
ImGui::TreePop();
|
|
}
|
|
|
|
if (ImGui::TreeNodeEx("Render Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
|
|
ImGui::Unindent(ImGui::GetTreeNodeToLabelSpacing() / 2);
|
|
|
|
if (ImGui::BeginTable("##RenderFlagsTable", num_cols)) {
|
|
const ImVec2 size = GetFlexElementSize(num_cols);
|
|
for (int i = 0; i < mjNRNDFLAG; ++i) {
|
|
ImGui::TableNextColumn();
|
|
ImGui_ButtonToggle(mjRNDSTRING[i][0], &render_flags[i], size);
|
|
}
|
|
ImGui::EndTable();
|
|
}
|
|
|
|
ImGui::Indent(ImGui::GetTreeNodeToLabelSpacing() / 2);
|
|
ImGui::TreePop();
|
|
}
|
|
}
|
|
|
|
void GroupsGui(const mjModel* model, mjvOption* vis_options, float min_width) {
|
|
const float available_width = ImGui::GetContentRegionAvail().x;
|
|
// We limit the number of columns to 1, 2, 3, or 6 depending on how much
|
|
// space the window has available.
|
|
int num_cols = std::clamp(
|
|
static_cast<int>(std::floor(available_width / min_width)), 1, 6);
|
|
if (num_cols == 4 || num_cols == 5) {
|
|
num_cols = 3;
|
|
}
|
|
|
|
auto GroupGui = [&](const char* name, mjtByte* group) {
|
|
if (ImGui::TreeNodeEx(name, ImGuiTreeNodeFlags_DefaultOpen)) {
|
|
ImGui::Unindent(ImGui::GetTreeNodeToLabelSpacing() / 2);
|
|
|
|
char label[64];
|
|
std::snprintf(label, sizeof(label), "##%s", name);
|
|
if (ImGui::BeginTable(label, num_cols)) {
|
|
const ImVec2 size = GetFlexElementSize(num_cols);
|
|
for (int i = 0; i < 6; ++i) {
|
|
ImGui::TableNextColumn();
|
|
std::snprintf(label, sizeof(label), "%s %d", name, i);
|
|
ImGui_ButtonToggle(label, &group[i], size);
|
|
}
|
|
|
|
ImGui::EndTable();
|
|
}
|
|
|
|
ImGui::Indent(ImGui::GetTreeNodeToLabelSpacing() / 2);
|
|
ImGui::TreePop();
|
|
}
|
|
};
|
|
|
|
GroupGui("Geoms", vis_options->geomgroup);
|
|
GroupGui("Sites", vis_options->sitegroup);
|
|
GroupGui("Joints", vis_options->jointgroup);
|
|
GroupGui("Tendons", vis_options->tendongroup);
|
|
GroupGui("Actuators", vis_options->actuatorgroup);
|
|
GroupGui("Flexes", vis_options->flexgroup);
|
|
GroupGui("Skins", vis_options->skingroup);
|
|
}
|
|
|
|
void NoiseGui(const mjModel* model, const mjData* data, float& noise_scale,
|
|
float& noise_rate) {
|
|
const float item_width = ImGui::GetWindowWidth() * .6f;
|
|
ImGui::PushItemWidth(item_width);
|
|
ImGui::SliderFloat("Scale", &noise_scale, 0, 1);
|
|
ImGui::SliderFloat("Rate", &noise_rate, 0, 4);
|
|
ImGui::PopItemWidth();
|
|
}
|
|
|
|
void JointsGui(const mjModel* model, const mjData* data,
|
|
const mjvOption* vis_options) {
|
|
const float item_width = ImGui::GetWindowWidth() * .6f;
|
|
ImGui::PushItemWidth(item_width);
|
|
|
|
char name[100];
|
|
for (int i = 0; i < model->njnt; ++i) {
|
|
if (model->jnt_type[i] != mjJNT_HINGE &&
|
|
model->jnt_type[i] != mjJNT_SLIDE) {
|
|
continue;
|
|
}
|
|
const int group = std::clamp(model->jnt_group[i], 0, mjNGROUP - 1);
|
|
if (!vis_options->jointgroup[group]) {
|
|
continue;
|
|
}
|
|
|
|
const char* jnt_name = model->names + model->name_jntadr[i];
|
|
if (*jnt_name) {
|
|
std::snprintf(name, sizeof(name), "%s", jnt_name);
|
|
} else {
|
|
std::snprintf(name, sizeof(name), "joint %d", i);
|
|
}
|
|
|
|
double min = -1.0;
|
|
double max = 1.0;
|
|
if (model->jnt_limited[i]) {
|
|
min = model->jnt_range[2 * i + 0];
|
|
max = model->jnt_range[2 * i + 1];
|
|
} else if (model->jnt_type[i] == mjJNT_SLIDE) {
|
|
min = -1.0;
|
|
max = 1.0;
|
|
} else {
|
|
min = -3.1416;
|
|
max = 3.1416;
|
|
}
|
|
|
|
const int data_adr = model->jnt_qposadr[i];
|
|
ImGui_Slider(name, &data->qpos[data_adr], min, max);
|
|
}
|
|
|
|
ImGui::PopItemWidth();
|
|
}
|
|
|
|
void ControlsGui(const mjModel* model, const mjData* data,
|
|
const mjvOption* vis_options) {
|
|
const float item_width = ImGui::GetWindowWidth() * .6f;
|
|
ImGui::PushItemWidth(item_width);
|
|
|
|
if (ImGui::Button("Clear All")) {
|
|
mju_zero(data->ctrl, model->nu);
|
|
}
|
|
|
|
char name[100];
|
|
for (int i = 0; i < model->nu; i++) {
|
|
int group = std::clamp(model->actuator_group[i], 0, mjNGROUP - 1);
|
|
if (!vis_options->actuatorgroup[group]) {
|
|
continue;
|
|
}
|
|
if (group >= 0 && group <= 30 &&
|
|
model->opt.disableactuator & (1 << group)) {
|
|
continue;
|
|
}
|
|
|
|
const char* ctrl_name = model->names + model->name_actuatoradr[i];
|
|
if (*ctrl_name) {
|
|
std::snprintf(name, sizeof(name), "%s", ctrl_name);
|
|
} else {
|
|
std::snprintf(name, sizeof(name), "control %d", i);
|
|
}
|
|
|
|
double min = -1.0;
|
|
double max = 1.0;
|
|
if (!model->actuator_ctrllimited[i]) {
|
|
min = model->actuator_ctrlrange[2 * i + 0];
|
|
max = model->actuator_ctrlrange[2 * i + 1];
|
|
}
|
|
ImGui_Slider(name, &data->ctrl[i], min, max);
|
|
}
|
|
|
|
ImGui::PopItemWidth();
|
|
}
|
|
|
|
void ConvergenceGui(const mjModel* model, mjData* data) {
|
|
if (ImPlot::BeginPlot("Convergence (log 10)", ImVec2(-1, 0),
|
|
ImPlotFlags_NoMouseText)) {
|
|
ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
|
|
ImPlot::SetupAxis(ImAxis_X1, "iteration", ImPlotAxisFlags_AutoFit);
|
|
ImPlot::SetupAxisLimits(ImAxis_X1, 0, 20, ImPlotCond_Always);
|
|
ImPlot::SetupAxisFormat(ImAxis_Y1, "%.1f");
|
|
ImPlot::SetupAxisLimits(ImAxis_Y1, -20, 5, ImPlotCond_Always);
|
|
ImPlot::SetupLegend(ImPlotLocation_NorthEast);
|
|
ImPlot::SetupFinish();
|
|
|
|
const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
|
|
for (int k = 0; k < nisland; k++) {
|
|
mjSolverStat* stats = data->solver + k * mjNSOLVER;
|
|
const int npoints =
|
|
mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
|
|
|
|
ImPlot::PlotLineG("improvement", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = mju_log10(mju_max(mjMINVAL, stats[i].improvement));
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
|
|
if (model->opt.solver == mjSOL_PGS) {
|
|
continue;
|
|
}
|
|
|
|
ImPlot::PlotLineG("gradient", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = mju_log10(mju_max(mjMINVAL, stats[i].gradient));
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
|
|
ImPlot::PlotLineG("lineslope", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = mju_log10(mju_max(mjMINVAL, stats[i].lineslope));
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
}
|
|
|
|
ImPlot::PopStyleVar();
|
|
ImPlot::EndPlot();
|
|
}
|
|
}
|
|
|
|
void CountsGui(const mjModel* model, mjData* data) {
|
|
if (ImPlot::BeginPlot("Counts", ImVec2(-1, 0), ImPlotFlags_NoMouseText)) {
|
|
ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
|
|
ImPlot::SetupAxis(ImAxis_X1, "iteration", ImPlotAxisFlags_AutoFit);
|
|
ImPlot::SetupAxisLimits(ImAxis_X1, 0, 20, ImPlotCond_Always);
|
|
ImPlot::SetupAxisFormat(ImAxis_Y1, "%.0f");
|
|
ImPlot::SetupAxisLimits(ImAxis_Y1, 0, 80, ImPlotCond_Always);
|
|
ImPlot::SetupLegend(ImPlotLocation_NorthEast);
|
|
ImPlot::SetupFinish();
|
|
|
|
const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
|
|
for (int k = 0; k < nisland; k++) {
|
|
const int npoints =
|
|
mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
|
|
|
|
mjSolverStat* stats = data->solver + k*mjNSOLVER;
|
|
|
|
int nefc = nisland == 1 ? data->nefc : data->island_nefc[k];
|
|
|
|
ImPlot::PlotLineG("total", +[](int i, void* user_data) {
|
|
const float x = static_cast<float>(i);
|
|
const float y = *(static_cast<int*>(user_data));
|
|
return ImPlotPoint{x, y};
|
|
}, &nefc, npoints);
|
|
|
|
ImPlot::PlotLineG("active", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = stats[i].nactive;
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
|
|
ImPlot::PlotLineG("changed", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = stats[i].nchange;
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
|
|
if (model->opt.solver == mjSOL_PGS) {
|
|
continue;
|
|
}
|
|
|
|
ImPlot::PlotLineG("evals", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = stats[i].neval;
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
|
|
if (model->opt.solver == mjSOL_CG) {
|
|
continue;
|
|
}
|
|
|
|
ImPlot::PlotLineG("updates", +[](int i, void* user_data) {
|
|
const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
|
|
const float x = static_cast<float>(i);
|
|
const float y = stats[i].nupdate;
|
|
return ImPlotPoint{x, y};
|
|
}, stats, npoints);
|
|
}
|
|
|
|
ImPlot::PopStyleVar();
|
|
ImPlot::EndPlot();
|
|
}
|
|
}
|
|
|
|
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)
|
|
mjtNum solver_err = 0;
|
|
int solver_iter = 0;
|
|
for (int i = 0; i < num_islands; i++) {
|
|
solver_iter += data->solver_niter[i];
|
|
|
|
mjtNum solerr_i = 0;
|
|
if (data->solver_niter[i]) {
|
|
const int ind = mjMIN(data->solver_niter[i], mjNSOLVER) - 1;
|
|
const mjSolverStat* stat = data->solver + i * mjNSOLVER + ind;
|
|
solerr_i = mju_min(stat->improvement, stat->gradient);
|
|
if (solerr_i == 0) {
|
|
solerr_i = mju_max(stat->improvement, stat->gradient);
|
|
}
|
|
}
|
|
solver_err = mju_max(solver_err, solerr_i);
|
|
}
|
|
solver_err = mju_log10(mju_max(mjMINVAL, solver_err));
|
|
|
|
auto type = paused ? mjTIMER_FORWARD : mjTIMER_STEP;
|
|
auto cpu = data->timer[type].duration / mjMAX(1, data->timer[type].number);
|
|
auto mempct = 100 * data->maxuse_arena / (double)(data->narena);
|
|
auto memlimit = mju_writeNumBytes(data->narena);
|
|
|
|
ImGui::Columns(2);
|
|
ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
|
|
ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
|
|
|
|
ImGui::Text("Time");
|
|
ImGui::Text("Size");
|
|
ImGui::Text("CPU");
|
|
ImGui::Text("Solver");
|
|
ImGui::Text("FPS");
|
|
ImGui::Text("Memory");
|
|
if (model->opt.enableflags & mjENBL_ENERGY) {
|
|
ImGui::Text("Energy");
|
|
}
|
|
if (model->opt.enableflags & mjENBL_FWDINV) {
|
|
ImGui::Text("FwdInv");
|
|
}
|
|
if (!(model->opt.disableflags & mjDSBL_ISLAND)) {
|
|
ImGui::Text("Islands");
|
|
}
|
|
|
|
ImGui::NextColumn();
|
|
ImGui::Text("%-9.3f", data->time);
|
|
ImGui::Text("%d (%d con)", data->nefc, data->ncon);
|
|
ImGui::Text("%.3f", cpu);
|
|
ImGui::Text("%.1f (%d it)", solver_err, solver_iter);
|
|
ImGui::Text("%0.1f", fps);
|
|
ImGui::Text("%.1f%% of %s", mempct, memlimit);
|
|
if (model->opt.enableflags & mjENBL_ENERGY) {
|
|
ImGui::Text("%.3f", data->energy[0] + data->energy[1]);
|
|
}
|
|
if (model->opt.enableflags & mjENBL_FWDINV) {
|
|
ImGui::Text("%.1f %.1f",
|
|
mju_log10(mju_max(mjMINVAL, data->solver_fwdinv[0])),
|
|
mju_log10(mju_max(mjMINVAL, data->solver_fwdinv[1])));
|
|
}
|
|
if (!(model->opt.disableflags & mjDSBL_ISLAND)) {
|
|
ImGui::Text("%d", data->nisland);
|
|
}
|
|
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
|