Studio launcher

PiperOrigin-RevId: 939814201
Change-Id: If3fb1a1a9f9114835452fce63f39931db7818db3

src/experimental/studio/CMakeLists.txt

@@ -118,7 +118,12 @@ if(NOT EMSCRIPTEN)
         set(STUDIO_RESOURCE_FILES "")
     endif()
 
-    add_executable(mujoco_studio main.cc ${STUDIO_RESOURCE_FILES})
+    add_executable(mujoco_studio
+        main.cc
+        launcher.cc
+        launcher.h
+        ${STUDIO_RESOURCE_FILES}
+    )
     if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
         set_target_properties(mujoco_studio PROPERTIES
             MACOSX_BUNDLE TRUE

src/experimental/studio/app.cc

@@ -943,17 +943,19 @@ void App::BuildGui() {
     }
     ImGui::End();
 
-    if (ImGui::Begin("Editor", &tmp_.inspector_panel)) {
-      SpecEditorGui();
-    }
-    ImGui::End();
-
     if (ImGui::Begin("Inspector", &tmp_.inspector_panel)) {
       DataInspectorGui();
     }
     ImGui::End();
   }
 
+  if (tmp_.editor_panel) {
+    if (ImGui::Begin("Editor", &tmp_.editor_panel)) {
+      SpecEditorGui();
+    }
+    ImGui::End();
+  }
+
   if (tmp_.profiler) {
     if (ImGui::Begin("Profiler", &tmp_.profiler,
                      ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoScrollWithMouse)) {
@@ -1994,6 +1996,12 @@ void App::MainMenuGui() {
               "Shift+Tab")) {
         tmp_.inspector_panel = !tmp_.inspector_panel;
       }
+      if (ImGui::MenuItem(tmp_.editor_panel ? "Hide Editor" : "Show Editor")) {
+        tmp_.editor_panel = !tmp_.editor_panel;
+        if (tmp_.editor_panel) {
+          tmp_.inspector_panel = true;
+        }
+      }
       if (ImGui::MenuItem(
               tmp_.toolbar ? "Hide Toolbar" : "Show Toolbar")) {
         tmp_.toolbar = !tmp_.toolbar;

src/experimental/studio/app.h

@@ -138,6 +138,7 @@ class App {
     bool toolbar = false;
     bool status_bar = false;
     bool inspector_panel = true;
+    bool editor_panel = false;
     bool full_screen = false;
     bool style_editor = false;
     bool imgui_demo = false;

src/experimental/studio/launcher.cc

@@ -0,0 +1,160 @@
+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "experimental/studio/launcher.h"
+
+#include <cstdlib>
+#include <cstring>
+#include <filesystem>  // NOLINT(build/c++17)
+#include <fstream>
+#include <ios>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/sys_utils.h"
+#include "experimental/studio/app.h"
+
+namespace mujoco::studio {
+namespace {
+
+std::string Resolve(std::string_view path) {
+  std::string_view subpath = path.substr(path.find(':') + 1);
+  std::filesystem::path exe_dir = mujoco::platform::GetModuleDir((void*)&Resolve);
+  if (exe_dir.empty()) {
+    return std::string("assets/") + std::string(subpath);
+  }
+  std::filesystem::path resources_dir = exe_dir.parent_path() / "Resources";
+  if (std::filesystem::exists(resources_dir / "assets")) {
+    return (resources_dir / "assets" / subpath).string();
+  }
+  return (exe_dir / "assets" / subpath).string();
+}
+
+class FileResource {
+ public:
+  explicit FileResource(const std::string& path)
+      : file_(path, std::ios::binary | std::ios::ate) {
+    if (!file_.is_open()) {
+      mju_warning("Cannot open file %s", path.c_str());
+      return;
+    }
+
+    size_ = file_.tellg();
+    file_.seekg(0, std::ios::beg);
+  }
+
+  int Read(const void** buffer) {
+    buffer_.resize(size_);
+    if (!file_.read(reinterpret_cast<char*>(buffer_.data()), size_)) {
+      return 0;
+    }
+    *buffer = buffer_.data();
+    return size_;
+  }
+
+  int Size() const { return size_; }
+
+  FileResource(const FileResource&) = delete;
+  FileResource& operator=(const FileResource&) = delete;
+
+ private:
+  std::ifstream file_;
+  std::vector<char> buffer_;
+  int size_ = 0;
+};
+
+}  // namespace
+
+int LaunchStudio(int argc, char** argv, LauncherConfig config) {
+  const char* home = std::getenv("HOME");
+  const std::string ini_path = std::string(home ? home : ".") + "/.mujoco.ini";
+
+  mjpResourceProvider resource_provider;
+  mjp_defaultResourceProvider(&resource_provider);
+
+  resource_provider.open = [](mjResource* resource) {
+    const std::string resolved_path = Resolve(resource->name);
+    FileResource* f = new FileResource(resolved_path);
+    if (f->Size() == 0) {
+      delete f;
+      return 0;
+    }
+    resource->data = f;
+    return f->Size();
+  };
+  resource_provider.read = [](mjResource* resource, const void** buffer) {
+    FileResource* f = static_cast<FileResource*>(resource->data);
+    return f->Read(buffer);
+  };
+  resource_provider.close = [](mjResource* resource) {
+    delete static_cast<FileResource*>(resource->data);
+    resource->data = nullptr;
+  };
+
+  resource_provider.prefix = "font";
+  mjp_registerResourceProvider(&resource_provider);
+  resource_provider.prefix = "filament";
+  mjp_registerResourceProvider(&resource_provider);
+
+  if (config.gfx_mode.empty()) {
+    const char* display = std::getenv("DISPLAY");
+    if (display && strcmp(display, ":20") == 0) {
+      config.gfx_mode = "opengl_headless";
+    }
+  }
+
+  const char* session_type = std::getenv("XDG_SESSION_TYPE");
+  const char* wayland_display = std::getenv("WAYLAND_DISPLAY");
+  if ((session_type && std::string_view(session_type) == "wayland") ||
+      wayland_display) {
+    if (config.gfx_mode.empty()) {
+      config.gfx_mode = "opengl_headless";
+    } else if (config.gfx_mode == "classic" || config.gfx_mode == "opengl") {
+      mju_error(
+          "Wayland does not support '%s' graphics mode. "
+          "Restart with a different graphics mode, or login using X11.",
+          config.gfx_mode.c_str());
+    }
+  }
+
+  mujoco::platform::GraphicsMode gfx_mode =
+      mujoco::platform::GraphicsModeFromString(
+          config.gfx_mode, mujoco::platform::GraphicsMode::FilamentOpenGl);
+
+  // Use config values if they are set (non-default), otherwise use flags.
+  mujoco::studio::App app({
+    .width = config.window_width,
+    .height = config.window_height,
+    .ini_path = ini_path,
+    .gfx_mode = gfx_mode,
+    .title = config.title,
+  });
+
+  if (config.model_file.empty()) {
+    app.InitEmptyModel();
+  } else {
+    app.LoadModelFromFile(config.model_file);
+  }
+
+  while (app.Update()) {
+    app.BuildGui();
+    app.Render();
+  }
+  return 0;
+}
+
+}  // namespace mujoco::studio

src/experimental/studio/launcher.h

@@ -0,0 +1,49 @@
+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_STUDIO_LAUNCHER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_STUDIO_LAUNCHER_H_
+
+#include <string>
+#include "experimental/studio/app.h"
+
+namespace mujoco::studio {
+
+struct LauncherConfig {
+  // Title of the window.
+  std::string title = "MuJoCo Studio";
+
+  // Initial window width.
+  int window_width = 1400;
+
+  // Initial window height.
+  int window_height = 720;
+
+  // Model file to load on startup. If empty, the launcher will try to load
+  // from flags or command line arguments.
+  std::string model_file = "";
+
+  std::string gfx_mode = "";
+};
+
+// Runs the MuJoCo Studio application.
+// This function handles resource provider registration, graphics mode detection,
+// app creation, and the main loop.
+//
+// Expects absl::ParseCommandLine to have been called before this.
+int LaunchStudio(int argc, char** argv, LauncherConfig config = {});
+
+}  // namespace mujoco::studio
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_STUDIO_LAUNCHER_H_

src/experimental/studio/main.cc

@@ -1,4 +1,4 @@
-// Copyright 2025 DeepMind Technologies Limited
+// Copyright 2026 DeepMind Technologies Limited
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,151 +12,29 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// Main entry point for the Filament-based MuJoCo renderer.
-
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>  // NOLINT(build/c++17)
-#include <fstream>
-#include <ios>
-#include <iosfwd>
 #include <string>
-#include <string_view>
-#include <vector>
 
 #include <absl/flags/flag.h>
 #include <absl/flags/parse.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/sys_utils.h"
-#include "experimental/studio/app.h"
+#include "experimental/studio/launcher.h"
 
 ABSL_FLAG(int, window_width, 1400, "Window width");
 ABSL_FLAG(int, window_height, 720, "Window height");
 ABSL_FLAG(std::string, model_file, "", "MuJoCo model file.");
 ABSL_FLAG(std::string, gfx, "", "Graphics API");
 
-std::string Resolve(std::string_view path) {
-  std::string_view subpath = path.substr(path.find(':') + 1);
-  std::filesystem::path exe_dir = mujoco::platform::GetModuleDir((void*)&Resolve);
-  if (exe_dir.empty()) {
-    return std::string("assets/") + std::string(subpath);
-  }
-  std::filesystem::path resources_dir = exe_dir.parent_path() / "Resources";
-  if (std::filesystem::exists(resources_dir / "assets")) {
-    return (resources_dir / "assets" / subpath).string();
-  }
-  return (exe_dir / "assets" / subpath).string();
-}
-
-class FileResource {
- public:
-  explicit FileResource(const std::string& path)
-      : file_(path, std::ios::binary | std::ios::ate) {
-    if (!file_.is_open()) {
-      mju_warning("Cannot open file %s", path.c_str());
-      return;
-    }
-
-    size_ = file_.tellg();
-    file_.seekg(0, std::ios::beg);
-  }
-
-  int Read(const void** buffer) {
-    buffer_.resize(size_);
-    if (!file_.read(reinterpret_cast<char*>(buffer_.data()), size_)) {
-      return 0;
-    }
-    *buffer = buffer_.data();
-    return size_;
-  }
-
-  int Size() const { return size_; }
-
-  FileResource(const FileResource&) = delete;
-  FileResource& operator=(const FileResource&) = delete;
-
- private:
-  std::ifstream file_;
-  std::vector<char> buffer_;
-  int size_ = 0;
-};
-
-int main(int argc, char** argv, char** envp) {
+int main(int argc, char** argv) {
   absl::ParseCommandLine(argc, argv);
 
-  const char* home = std::getenv("HOME");
-  const std::string ini_path = std::string(home ? home : ".") + "/.mujoco.ini";
-
-  mjpResourceProvider resource_provider;
-  mjp_defaultResourceProvider(&resource_provider);
-
-  resource_provider.open = [](mjResource* resource) {
-    const std::string resolved_path = Resolve(resource->name);
-    FileResource* f = new FileResource(resolved_path);
-    if (f->Size() == 0) {
-      delete f;
-      return 0;
-    }
-    resource->data = f;
-    return f->Size();
-  };
-  resource_provider.read = [](mjResource* resource, const void** buffer) {
-    FileResource* f = static_cast<FileResource*>(resource->data);
-    return f->Read(buffer);
-  };
-  resource_provider.close = [](mjResource* resource) {
-    delete static_cast<FileResource*>(resource->data);
-    resource->data = nullptr;
-  };
-
-  resource_provider.prefix = "font";
-  mjp_registerResourceProvider(&resource_provider);
-  resource_provider.prefix = "filament";
-  mjp_registerResourceProvider(&resource_provider);
-
-  std::string gfx = absl::GetFlag(FLAGS_gfx);
-
-  const char* session_type = std::getenv("XDG_SESSION_TYPE");
-  const char* wayland_display = std::getenv("WAYLAND_DISPLAY");
-  if ((session_type && std::string_view(session_type) == "wayland") ||
-      wayland_display) {
-    if (gfx.empty()) {
-      gfx = "opengl_headless";
-    } else if (gfx == "classic" || gfx == "opengl") {
-      mju_error(
-          "Wayland does not support '%s' graphics mode. "
-          "Restart with a different graphics mode, or login using X11.",
-          gfx.c_str());
-    }
-  }
-
-  mujoco::platform::GraphicsMode gfx_mode =
-      mujoco::platform::GraphicsModeFromString(
-          gfx, mujoco::platform::GraphicsMode::FilamentOpenGl);
-
-  const int width = absl::GetFlag(FLAGS_window_width);
-  const int height = absl::GetFlag(FLAGS_window_height);
-  mujoco::studio::App app({
-    .width = width,
-    .height = height,
-    .ini_path = ini_path,
-    .gfx_mode = gfx_mode,
-  });
-
-  // If the model file is not specified, try to load it from the first argument
   std::string model_file = absl::GetFlag(FLAGS_model_file);
-  if (model_file.empty() && argc > 1 && argv[1][0] != '-') model_file = argv[1];
-
-  if (model_file.empty()) {
-    app.InitEmptyModel();
-  } else {
-    app.LoadModelFromFile(model_file);
+  if (model_file.empty() && argc > 1 && argv[1][0] != '-') {
+    model_file = argv[1];
   }
 
-  while (app.Update()) {
-    app.BuildGui();
-    app.Render();
-  }
-  return 0;
+  return mujoco::studio::LaunchStudio(argc, argv, {
+      .window_width = absl::GetFlag(FLAGS_window_width),
+      .window_height = absl::GetFlag(FLAGS_window_height),
+      .model_file = model_file,
+      .gfx_mode = absl::GetFlag(FLAGS_gfx),
+  });
 }