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GUI.md

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Graphical User Interface

Overview

The MJPC GUI is built on top of MuJoCo's simulate application with a few additional features. The below screenshot shows a capture of the GUI for the walker task.

GUI

User Guide

  • Press F1 to bring up a help pane that describes how to use the GUI.
  • The MJPC GUI is an extension of MuJoCo's native simulate viewer, with the same keyboard shortcuts and mouse functionality.
    • + speeds up the simulation, resulting in fewer planning steps per simulation step.
    • - slows down the simulation, resulting in more planning steps per simulation step.
  • The simulate viewer enables drag-and-drop interaction with simulated objects to apply forces or torques.
    • Double-click on a body to select it.
    • Ctrl + left drag applies a torque to the selected object, resulting in rotation.
    • Ctrl + right drag applies a force to the selected object in the (x,z) plane, resulting in translation.
    • Ctrl + Shift + right drag applies a force to the selected object in the (x,y) plane.
  • MJPC adds three keyboard shortcuts:
    • The Enter key starts and stops the planner.
    • The \ key starts and stops the controller (sending actions from the planner to the model).
    • The 9 key turns the traces on/off.