[Feature]: Improve simulation UI for parameter tuning and replay support

[GaoLF]

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What feature or enhancement are you proposing?

Hi, thanks for the great work!

Currently, the simulation UI lacks convenient tools for interactive parameter tuning. Every time we need to adjust parameters (e.g. constraint stiffness, damping, or initial velocity), we have to recompile and rerun the simulation from scratch. This can be time-consuming.

Motivation

The current workflow in Genesis for cloth simulation and robot-cloth interaction requires frequent recompilation when tuning simulation parameters. This slows down the iteration process, especially when experimenting with complex interactions such as grasping, folding, or regrasping cloth using robotic manipulators.

As cloth dynamics are highly sensitive to parameter choices (e.g., constraint stiffness, compliance, damping), a responsive, interactive UI would significantly improve development efficiency and simulation stability testing.

Potential Benefit

Faster iteration cycle: Adjust simulation parameters and immediately observe the effects, without recompiling.

Improved reproducibility: Enable controlled replay of interactions

Better usability

What is the expected outcome of the implementation work?

A lightweight UI panel to tweak common simulation parameters without recompiling.

Replay support or a simulation reset button to restart the simulation from frame 0 using the current parameters and mesh.

Optional: Hot reload of mesh files or config files (e.g. .json / .yaml) to make iteration smoother.

Additional information

No response