Initial implementation of toolbox-based "Studio" app.

PiperOrigin-RevId: 809966748 Change-Id: Ic6333259ca1d112a2e42d47ccc44326bfcea3bdd
2025-09-22 05:01:31 -07:00
parent 7fc6b29afd
commit 6eea3d8ec0
3 changed files with 1980 additions and 0 deletions
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+// Copyright 2025 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.
+
+// Main entry point for the Filament-based MuJoCo renderer.
+
+#include <cstddef>
+#include <cstdint>
+#include <cstdlib>
+#include <fstream>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include "third_party/absl/flags/flag.h"
+#include "third_party/mujoco/google/runfiles/runfiles.h"
+#include "experimental/studio/app.h"
+
+ABSL_FLAG(int, window_width, 1400, "Window width");
+ABSL_FLAG(int, window_height, 700, "Window height");
+ABSL_FLAG(std::string, model_file, "", "MuJoCo model file.");
+
+constexpr char kDataPath[] = "third_party/mujoco/google/filament/assets/data/";
+
+static std::vector<std::byte> LoadAsset(std::string_view path) {
+  std::ifstream file(path, std::ios::binary | std::ios::ate);
+  if (!file.is_open()) {
+    return {};
+  }
+  std::streampos file_size = file.tellg();
+  file.seekg(0, std::ios::beg);
+  std::vector<std::byte> buffer(file_size);
+  if (!file.read(reinterpret_cast<char*>(buffer.data()), file_size)) {
+    return {};
+  }
+  return buffer;
+}
+
+int main(int argc, char** argv, char** envp) {
+
+  const int width = absl::GetFlag(FLAGS_window_width);
+  const int height = absl::GetFlag(FLAGS_window_height);
+  const std::string ini_path = file::JoinPath(getenv("HOME"), ".mujoco.ini");
+  mujoco::studio::App app(width, height, ini_path, LoadAsset);
+
+  // 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];
+  app.LoadModel(model_file);
+  while (app.Update()) {
+    app.Sync();
+    app.BuildGui();
+    app.Render();
+  }
+  return 0;
+}