Added graph rendering, Actuator force visualization[no sites], Sim reset method(backspace) and window positioning

.gitignore

@@ -4,3 +4,164 @@ dist/
 *.egg-info
 mujoco_viewer/__pycache__
 mujoco_viewer/MUJOCO_LOG.TXT
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

README.md

@@ -72,4 +72,4 @@ img = viewer.read_pixels(camid=2)
 - `title`: set the title of the window, for example: `viewer = mujoco_viewer.MujocoViewer(model, data, title='My Demo')` (defaults to `mujoco-python-viewer`). 
 - `width`: set the window width, for example: `viewer = mujoco_viewer.MujocoViewer(model, data, width=300)` (defaults to full screen's width). 
 - `height`: set the window height, for example: `viewer = mujoco_viewer.MujocoViewer(model, data, height=300)` (defaults to full screen's height). 
-- `hide_menus`: set whether the overlay menus should be hidden or not (defaults to `False`).
+- `hide_menus`: set whether the overlay menus and graph should be hidden or not (defaults to `False`).

examples/actuator_force_rendering.py

@@ -0,0 +1,76 @@
+import mujoco
+import mujoco_viewer
+import math
+
+MODEL_XML = """
+<?xml version="1.0" ?>
+<mujoco>
+    <option gravity="0 0 -9.81" timestep="0.002" />
+    <asset>
+        <material name="blue" rgba="0 0 1 1" />
+        <material name="green" rgba="0 1 0 1" />
+        <material name="red" rgba="1 0 0 1" />
+        <material name="white" rgba="1 1 1 1" />
+    </asset>
+    <worldbody>
+        <geom type="plane" size="10 10 0.1" pos="0 0 -1.6" rgba=".3 .3 .3 1" />
+        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1" />
+
+        <body name="link_1" pos="0 0 0" euler="90 0 0">
+            <joint name="hinge_1" type="hinge" axis="1 0 0" />
+            <geom name="g_link_1" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="red" mass="1" />
+            <body name="link_2" pos=".2 0 1" euler="0 0 0">
+                <joint name="hinge_2" type="hinge" axis="0 1 0" />
+                <geom name="g_link_2" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="green" mass="1" />
+                <body name="link_3" pos=".2 0 1" euler="0 0 0">
+                    <joint name="hinge_3" type="slide" axis="1 0 0" />
+                    <geom name="g_link_3" type="cylinder" size=".1 .5" pos="0.3 0 0" euler="0 90 0" material="blue" mass="1" />
+                    <geom name="end_mass" type="sphere" size=".25" pos="1 0 0" euler="0 0 0" material="blue" mass="1" />
+                </body>
+            </body>
+        </body>
+
+    </worldbody>
+    <actuator>
+        <position name="pos_servo_1" joint="hinge_1" kp="100" />
+        <position name="pos_servo_2" joint="hinge_2" kp="100" />
+        <position name="pos_servo_3" joint="hinge_3" kp="100" />
+    </actuator>
+    <sensor>
+        <jointpos name="pos_sensor_1" joint="hinge_1" />
+        <jointpos name="pos_sensor_2" joint="hinge_2" />
+        <jointpos name="pos_sensor_3" joint="hinge_3" />
+    </sensor>
+</mujoco>
+"""
+
+model = mujoco.MjModel.from_xml_string(MODEL_XML)
+data = mujoco.MjData(model)
+
+# create the viewer object
+viewer = mujoco_viewer.MujocoViewer(model, data, hide_menus=True)
+
+f_render_list = [
+    ["hinge_1", "pos_servo_1", "force_at_hinge_1"],
+    ["hinge_2", "pos_servo_2", "force_at_hinge_2"],
+    ["hinge_3", "pos_servo_3", "force_at_hinge_3"],
+]
+
+for _ in range(10000):
+    # Render forces
+    viewer.show_actuator_forces(
+        f_render_list=f_render_list,
+        rgba_list=[1, 0.5, 1, 0.5],
+        force_scale=0.05,
+        arrow_radius=0.05,
+        show_force_labels=True,
+    )
+
+    # step and render
+    mujoco.mj_step(model, data)
+    viewer.render()
+    if not viewer.is_alive:
+        break
+
+# close
+viewer.close()

examples/graphs.py

@@ -0,0 +1,90 @@
+import mujoco
+import mujoco_viewer
+import math
+
+MODEL_XML = """
+<?xml version="1.0" ?>
+<mujoco>
+    <option gravity="0 0 -9.81" timestep="0.002" />
+    <default>
+        <site type="cylinder" size="0.01 0.03" zaxis="1 0 0" rgba="0.1 0.1 1 .1" />
+    </default>
+
+    <asset>
+        <material name="blue" rgba="0 0 1 1" />
+        <material name="green" rgba="0 1 0 1" />
+        <material name="red" rgba="1 0 0 1" />
+        <material name="white" rgba="1 1 1 1" />
+    </asset>
+    <worldbody>
+        <geom type="plane" size="10 10 0.1" pos="0 0 -1.6" rgba=".3 .3 .3 1" />
+        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1" />
+
+        <body name="link_1" pos="0 0 0" euler="90 0 0">
+            <joint name="hinge_1" type="hinge" axis="1 0 0" />
+            <site name="site_1" />
+            <geom name="g_link_1" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="red" mass="1" />
+            <body name="link_2" pos=".2 0 1" euler="0 0 0">
+                <joint name="hinge_2" type="hinge" axis="1 0 0" />
+                <site name="site_2" />
+                <geom name="g_link_2" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="green" mass="1" />
+                <body name="link_3" pos=".2 0 1" euler="0 0 0">
+                    <joint name="hinge_3" type="hinge" axis="1 0 0" />
+                    <site name="site_3" />
+                    <geom name="g_link_3" type="cylinder" size=".1 .5" pos="0 0 .5" euler="0 0 0" material="blue" mass="1" />
+                    <geom name="end_mass" type="sphere" size=".25" pos="0 0 1" euler="0 0 0" material="blue" mass="1" />
+                </body>
+            </body>
+        </body>
+
+    </worldbody>
+    <actuator>
+        <position name="pos_servo_1" joint="hinge_1" kp="100" />
+        <position name="pos_servo_2" joint="hinge_2" kp="100" />
+        <position name="pos_servo_3" joint="hinge_3" kp="100" />
+    </actuator>
+    <sensor>
+        <jointpos name="pos_sensor_1" joint="hinge_1" />
+        <jointpos name="pos_sensor_2" joint="hinge_2" />
+        <jointpos name="pos_sensor_3" joint="hinge_3" />
+    </sensor>
+</mujoco>
+"""
+
+model = mujoco.MjModel.from_xml_string(MODEL_XML)
+data = mujoco.MjData(model)
+
+# create the viewer object
+viewer = mujoco_viewer.MujocoViewer(model, data)
+
+
+# Initialize the graph lines
+viewer.add_graph_line(line_name="line_1")
+viewer.add_graph_line(line_name="downscaled_force_sensor")
+viewer.add_graph_line(line_name="position_sensor")
+
+# Initialize the Legend
+viewer.show_graph_legend(show_legend=True)
+
+# For a time-based graph, 
+# x_axis_time is the total time that you want your viewing window to see
+# It needs to be set to grater than [model.opt.timestep*50]
+# If you want to over ride that, change the "override" parameter to True
+viewer.set_grid_divisions(x_div=5,
+                          y_div=4,
+                          x_axis_time=model.opt.timestep * 1000,
+                          override=True)
+
+for i in range(10000):
+    viewer.update_graph_line(line_name="line_1", line_data=math.sin(i / 10.0))
+    viewer.update_graph_line(line_name="downscaled_force_sensor", line_data=data.actuator_force[0]/100.0)
+    viewer.update_graph_line(line_name="position_sensor", line_data=data.sensordata[0])
+
+    # step and render
+    mujoco.mj_step(model, data)
+    viewer.render()
+    if not viewer.is_alive:
+        break
+
+# close
+viewer.close()

mujoco_viewer/callbacks.py

@@ -18,6 +18,7 @@ def __init__(self, hide_menus):
         self._last_mouse_x = 0
         self._last_mouse_y = 0
         self._paused = False
+        self._hide_graph = False
         self._transparent = False
         self._contacts = False
         self._joints = False
@@ -97,6 +98,9 @@ def _key_callback(self, window, key, scancode, action, mods):
                 self.model.geom_rgba[:, 3] /= 5.0
             else:
                 self.model.geom_rgba[:, 3] *= 5.0
+        # Toggle Graph overlay
+        elif key == glfw.KEY_G:
+            self._hide_graph = not self._hide_graph
         # Display inertia
         elif key == glfw.KEY_I:
             self._inertias = not self._inertias
@@ -115,6 +119,10 @@ def _key_callback(self, window, key, scancode, action, mods):
             self.vopt.flags[
                 mujoco.mjtVisFlag.mjVIS_CONVEXHULL
             ] = self._convex_hull_rendering
+        # Reload Simulation 
+        elif key == glfw.KEY_BACKSPACE:
+            mujoco.mj_resetData(self.model, self.data)
+            mujoco.mj_forward(self.model, self.data)
         # Wireframe Rendering
         elif key == glfw.KEY_W:
             self._wire_frame = not self._wire_frame