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Behavior UI: Resizable Settings, Drag to Reorder, Reduced Progress Options, Persistent Settings #1046

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Merged
merged 7 commits into from
Oct 20, 2025
Merged

Behavior UI: Resizable Settings, Drag to Reorder, Reduced Progress Options, Persistent Settings #1046

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61d294f
Simplify code.
calvertdw Oct 19, 2025
a720c4c
Make node settings resizable and disappear when not needed.
calvertdw Oct 19, 2025
b7e777c
Add time only progress view option and fix visual issues.
calvertdw Oct 19, 2025
ded8c88
Add the ability to resize the node settings area and show only the ti…
calvertdw Oct 19, 2025
19f7d2c
Fix double selection bug.
calvertdw Oct 19, 2025
6acc728
Implement drag and drop reordering.
calvertdw Oct 19, 2025
b55fabe
Document progress widgets types.
calvertdw Oct 20, 2025
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4 changes: 2 additions & 2 deletions ihmc-graphics/src/libgdx/java/us/ihmc/rdx/imgui/ImGuiTools.java
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Original file line number Diff line number Diff line change
Expand Up @@ -420,9 +420,9 @@ public static boolean isItemHovered(float itemWidth, float lineHeight)
float mousePosXInWidgetFrame = mousePosXInDesktopFrame - ImGui.getWindowPosX() + ImGui.getScrollX();
float mousePosYInWidgetFrame = mousePosYInDesktopFrame - ImGui.getWindowPosY() + ImGui.getScrollY();

boolean isHovered = mousePosXInWidgetFrame >= ImGui.getCursorPosX();
boolean isHovered = mousePosXInWidgetFrame > ImGui.getCursorPosX();
isHovered &= mousePosXInWidgetFrame <= ImGui.getCursorPosX() + itemWidth + ImGui.getStyle().getFramePaddingX();
isHovered &= mousePosYInWidgetFrame >= ImGui.getCursorPosY();
isHovered &= mousePosYInWidgetFrame > ImGui.getCursorPosY();
isHovered &= mousePosYInWidgetFrame <= ImGui.getCursorPosY() + lineHeight;
isHovered &= ImGui.isWindowHovered();

Expand Down
30 changes: 17 additions & 13 deletions ...-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/sequence/RDXActionProgressWidgets.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
import imgui.extension.implot.ImPlot;
import imgui.extension.implot.flag.ImPlotFlags;
import imgui.flag.ImGuiCond;
import imgui.internal.ImGui;
import imgui.ImGui;
import us.ihmc.behaviors.sequence.ActionNodeState;
import us.ihmc.behaviors.sequence.actions.FootstepPlanActionState;
import us.ihmc.commons.thread.ThreadTools;
Expand All @@ -25,7 +25,6 @@

public class RDXActionProgressWidgets
{
public static final float PROGRESS_BAR_HEIGHT = 18.0f;
public static final float PLOT_HEIGHT = 40.0f;
public static final int MAX_WAYPOINTS = 500;
public static final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
Expand Down Expand Up @@ -152,7 +151,7 @@ public void renderElapsedTimeBar(float dividedBarWidth)
double nominalDuration = action.getState().getNominalExecutionDuration();
double percentComplete = elapsedExecutionTime / nominalDuration;
double percentLeft = 1.0 - percentComplete;
ImGui.progressBar((float) percentLeft, dividedBarWidth, PROGRESS_BAR_HEIGHT, "%.2f / %.2f".formatted(elapsedExecutionTime, nominalDuration));
ImGui.progressBar((float) percentLeft, dividedBarWidth, progressBarHeight(), "%.2f / %.2f".formatted(elapsedExecutionTime, nominalDuration));
}

public void renderPositionError(float dividedBarWidth, boolean renderAsPlots)
Expand Down Expand Up @@ -198,7 +197,7 @@ public void renderPositionError(float dividedBarWidth, boolean renderAsPlots)
double barEndValue = Math.max(Math.min(initialToEnd, currentToEnd), 2.0 * tolerance);
double toleranceMarkPercent = tolerance / barEndValue;
double percentLeft = currentToEnd / barEndValue;
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT,
ImGuiTools.markedProgressBar(progressBarHeight(),
dividedBarWidth,
dataColor,
percentLeft,
Expand Down Expand Up @@ -255,7 +254,7 @@ public void renderOrientationError(float dividedBarWidth, boolean renderAsPlots)
double barEndValue = Math.max(Math.min(initialToEnd, currentToEnd), 2.0 * tolerance);
double toleranceMarkPercent = tolerance / barEndValue;
double percentLeft = currentToEnd / barEndValue;
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT,
ImGuiTools.markedProgressBar(progressBarHeight(),
dividedBarWidth,
dataColor,
percentLeft,
Expand Down Expand Up @@ -312,7 +311,7 @@ public void renderJointspacePositionError(int jointIndex, float dividedBarWidth,
double barEndValue = Math.max(Math.min(initialToEnd, currentToEnd), 2.0 * tolerance);
double toleranceMarkPercent = tolerance / barEndValue;
double percentLeft = currentToEnd / barEndValue;
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT,
ImGuiTools.markedProgressBar(progressBarHeight(),
dividedBarWidth,
dataColor,
percentLeft,
Expand Down Expand Up @@ -351,7 +350,7 @@ else if (action instanceof RDXScrewPrimitiveAction screwPrimitiveAction)
}
else
{
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT, dividedBarWidth, dataColor, force / limit, 0.5, "%.2f".formatted(force));
ImGuiTools.markedProgressBar(progressBarHeight(), dividedBarWidth, dataColor, force / limit, 0.5, "%.2f".formatted(force));
}
}
else
Expand Down Expand Up @@ -385,7 +384,7 @@ else if (action instanceof RDXScrewPrimitiveAction screwPrimitiveAction)
}
else
{
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT, dividedBarWidth, dataColor, torque / limit, 0.5, "%.2f".formatted(torque));
ImGuiTools.markedProgressBar(progressBarHeight(), dividedBarWidth, dataColor, torque / limit, 0.5, "%.2f".formatted(torque));
}
}
else
Expand All @@ -412,7 +411,7 @@ public void renderFootstepCompletion(float dividedBarWidth, boolean renderAsPlot
}
else
{
ImGui.progressBar((float) percentLeft, dividedBarWidth, PROGRESS_BAR_HEIGHT, overlay);
ImGui.progressBar((float) percentLeft, dividedBarWidth, progressBarHeight(), overlay);
}
}
else
Expand Down Expand Up @@ -465,7 +464,7 @@ public void renderFootPositions(float dividedBarWidth, boolean renderAsPlots)
double barEndValue = Math.max(Math.min(initialToEnd, currentToEnd), 2.0 * tolerance);
double toleranceMarkPercent = tolerance / barEndValue;
double percentLeft = currentToEnd / barEndValue;
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT,
ImGuiTools.markedProgressBar(progressBarHeight(),
halfDividedBarWidth,
dataColor,
percentLeft,
Expand Down Expand Up @@ -527,7 +526,7 @@ public void renderFootOrientations(float dividedBarWidth, boolean renderAsPlots)
double barEndValue = Math.max(Math.min(initialToEnd, currentToEnd), 2.0 * tolerance);
double toleranceMarkPercent = tolerance / barEndValue;
double percentLeft = currentToEnd / barEndValue;
ImGuiTools.markedProgressBar(PROGRESS_BAR_HEIGHT,
ImGuiTools.markedProgressBar(progressBarHeight(),
halfDividedBarWidth,
dataColor,
percentLeft,
Expand All @@ -554,11 +553,16 @@ public static void renderBlankProgress(String emptyPlotLabel, float width, boole
{
if (renderAsPlots && supportsPlots)
{
ImPlotTools.renderEmptyPlotArea(emptyPlotLabel, width, RDXActionProgressWidgets.PLOT_HEIGHT);
ImPlotTools.renderEmptyPlotArea(emptyPlotLabel, width, PLOT_HEIGHT);
}
else
{
ImGui.progressBar(Float.NaN, width, RDXActionProgressWidgets.PROGRESS_BAR_HEIGHT, "");
ImGui.progressBar(Float.NaN, width, progressBarHeight(), "");
}
}

private static float progressBarHeight()
{
return 1.2f * ImGui.getTextLineHeight();
}
}
183 changes: 97 additions & 86 deletions ...ors/src/libgdx/java/us/ihmc/rdx/ui/behavior/sequence/RDXActionProgressWidgetsManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,20 +6,34 @@
import us.ihmc.rdx.ui.behavior.actions.RDXHandPoseAction;
import us.ihmc.rdx.ui.behavior.actions.RDXSakeHandCommandAction;
import us.ihmc.rdx.ui.behavior.actions.RDXScrewPrimitiveAction;
import us.ihmc.rdx.ui.behavior.tree.RDXBehaviorTree;
import us.ihmc.robotics.EuclidCoreMissingTools;

import java.util.ArrayList;
import java.util.Comparator;
import java.util.SortedSet;
import java.util.TreeSet;

/**
* Renders action execution status tracking UI elements.
*
* TODO: Add even more compressed representation. Radial plots.
*/
public class RDXActionProgressWidgetsManager
{
public enum Type
{
/** Show only the estimated time remaining as a progress bar.. */
TIME_ONLY,
/** Show progress bars which are more compact than full plots. */
PROGRESS_BARS,
/** Show full side scrolling plots which show more information about execution but take up more space. */
SCROLLING_PLOTS
}
private final ImGuiUniqueLabelMap labels = new ImGuiUniqueLabelMap(getClass());
private final ImGuiLabelledWidgetAligner widgetAligner = new ImGuiLabelledWidgetAligner();
private final SortedSet<RDXActionNode<?, ?>> sortedActionNodesToRender = new TreeSet<>(Comparator.comparingInt(node -> node.getState().getLeafIndex()));
private final ArrayList<RDXActionNode<?, ?>> actionNodesToRender = new ArrayList<>();
private boolean renderAsPlots = true;
private int emptyPlotIndex;
private int numberOfLines;

Expand Down Expand Up @@ -52,6 +66,7 @@ public void render()
}
boolean showPosePlots = containsFootsteps || containsHandMovements;

ImGui.spacing();
widgetAligner.text("Expected time remaining:");
float dividedBarWidth = computeDividedBarWidth(); // Must be computed after above text
handleRenderingBlankBar(false);
Expand All @@ -63,95 +78,100 @@ public void render()
++numberOfLines;
ImGui.spacing();

if (containsFootsteps)
{
widgetAligner.text("Footstep completion:");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
actionNodesToRender.get(i).getProgressWidgets().renderFootstepCompletion(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();
}

if (showPosePlots)
{
widgetAligner.text("Position error (m):");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
if (actionNodesToRender.get(i) instanceof RDXFootstepPlanAction)
actionNodesToRender.get(i).getProgressWidgets().renderFootPositions(dividedBarWidth, renderAsPlots);
else
actionNodesToRender.get(i).getProgressWidgets().renderPositionError(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();

widgetAligner.text("Orientation error (%s):".formatted(EuclidCoreMissingTools.DEGREE_SYMBOL));
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
if (actionNodesToRender.get(i) instanceof RDXFootstepPlanAction)
actionNodesToRender.get(i).getProgressWidgets().renderFootOrientations(dividedBarWidth, renderAsPlots);
else
actionNodesToRender.get(i).getProgressWidgets().renderOrientationError(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();
}

if (containsHandMovements)
boolean timeOnly = RDXBehaviorTree.SETTINGS.getProgressWidgetsType() == Type.TIME_ONLY;
boolean renderAsPlots = RDXBehaviorTree.SETTINGS.getProgressWidgetsType() == Type.SCROLLING_PLOTS;
if (!timeOnly)
{
widgetAligner.text("Hand force (N):");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
if (containsFootsteps)
{
actionNodesToRender.get(i).getProgressWidgets().renderHandForce(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
widgetAligner.text("Footstep completion:");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
actionNodesToRender.get(i).getProgressWidgets().renderFootstepCompletion(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();
}
++numberOfLines;
ImGui.spacing();

widgetAligner.text("Hand torque (Nm):");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
if (showPosePlots)
{
actionNodesToRender.get(i).getProgressWidgets().renderHandTorque(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
widgetAligner.text("Position error (m):");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
if (actionNodesToRender.get(i) instanceof RDXFootstepPlanAction)
actionNodesToRender.get(i).getProgressWidgets().renderFootPositions(dividedBarWidth, renderAsPlots);
else
actionNodesToRender.get(i).getProgressWidgets().renderPositionError(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();

widgetAligner.text("Orientation error (%s):".formatted(EuclidCoreMissingTools.DEGREE_SYMBOL));
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
if (actionNodesToRender.get(i) instanceof RDXFootstepPlanAction)
actionNodesToRender.get(i).getProgressWidgets().renderFootOrientations(dividedBarWidth, renderAsPlots);
else
actionNodesToRender.get(i).getProgressWidgets().renderOrientationError(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();
}
++numberOfLines;
ImGui.spacing();
}

if (containsHandConfiguration)
{
widgetAligner.text("Knuckle X1 (%s):".formatted(EuclidCoreMissingTools.DEGREE_SYMBOL));
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
if (containsHandMovements)
{
actionNodesToRender.get(i).getProgressWidgets().renderJointspacePositionError(0, dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
widgetAligner.text("Hand force (N):");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
actionNodesToRender.get(i).getProgressWidgets().renderHandForce(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();

widgetAligner.text("Hand torque (Nm):");
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
actionNodesToRender.get(i).getProgressWidgets().renderHandTorque(dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();
}
++numberOfLines;
ImGui.spacing();

widgetAligner.text("Knuckle X2 (%s):".formatted(EuclidCoreMissingTools.DEGREE_SYMBOL));
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
if (containsHandConfiguration)
{
actionNodesToRender.get(i).getProgressWidgets().renderJointspacePositionError(1, dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
widgetAligner.text("Knuckle X1 (%s):".formatted(EuclidCoreMissingTools.DEGREE_SYMBOL));
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
actionNodesToRender.get(i).getProgressWidgets().renderJointspacePositionError(0, dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();

widgetAligner.text("Knuckle X2 (%s):".formatted(EuclidCoreMissingTools.DEGREE_SYMBOL));
handleRenderingBlankBar(true);
for (int i = 0; i < actionNodesToRender.size(); i++)
{
actionNodesToRender.get(i).getProgressWidgets().renderJointspacePositionError(1, dividedBarWidth, renderAsPlots);
sameLineExceptLast(i);
}
++numberOfLines;
ImGui.spacing();
}
++numberOfLines;
ImGui.spacing();
}

while (numberOfLines < 5)
while (numberOfLines < (timeOnly ? 1 : 5))
{
widgetAligner.text("");
renderBlankBar(true);
Expand Down Expand Up @@ -190,19 +210,10 @@ private void handleRenderingBlankBar(boolean supportsPlots)

private void renderBlankBar(boolean supportsPlots)
{
boolean renderAsPlots = RDXBehaviorTree.SETTINGS.getProgressWidgetsType() == Type.SCROLLING_PLOTS;
RDXActionProgressWidgets.renderBlankProgress(labels.get("Empty Plot", emptyPlotIndex++), ImGui.getColumnWidth(), renderAsPlots, supportsPlots);
}

public boolean getRenderAsPlots()
{
return renderAsPlots;
}

public void setRenderAsPlots(boolean renderAsPlots)
{
this.renderAsPlots = renderAsPlots;
}

public SortedSet<RDXActionNode<?, ?>> getActionNodesToRender()
{
return sortedActionNodesToRender;
Expand Down
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