Haroon Qureshi
6eea3d8ec0
PiperOrigin-RevId: 809966748 Change-Id: Ic6333259ca1d112a2e42d47ccc44326bfcea3bdd
67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Main entry point for the Filament-based MuJoCo renderer.
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#include <cstddef>
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#include <cstdint>
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#include <cstdlib>
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#include <fstream>
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#include <string>
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#include <string_view>
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#include <vector>
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#include "third_party/absl/flags/flag.h"
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#include "third_party/mujoco/google/runfiles/runfiles.h"
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#include "experimental/studio/app.h"
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ABSL_FLAG(int, window_width, 1400, "Window width");
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ABSL_FLAG(int, window_height, 700, "Window height");
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ABSL_FLAG(std::string, model_file, "", "MuJoCo model file.");
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constexpr char kDataPath[] = "third_party/mujoco/google/filament/assets/data/";
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static std::vector<std::byte> LoadAsset(std::string_view path) {
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std::ifstream file(path, std::ios::binary | std::ios::ate);
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if (!file.is_open()) {
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return {};
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}
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std::streampos file_size = file.tellg();
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file.seekg(0, std::ios::beg);
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std::vector<std::byte> buffer(file_size);
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if (!file.read(reinterpret_cast<char*>(buffer.data()), file_size)) {
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return {};
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}
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return buffer;
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}
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int main(int argc, char** argv, char** envp) {
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const int width = absl::GetFlag(FLAGS_window_width);
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const int height = absl::GetFlag(FLAGS_window_height);
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const std::string ini_path = file::JoinPath(getenv("HOME"), ".mujoco.ini");
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mujoco::studio::App app(width, height, ini_path, LoadAsset);
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// If the model file is not specified, try to load it from the first argument
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std::string model_file = absl::GetFlag(FLAGS_model_file);
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if (model_file.empty() && argc > 1 && argv[1][0] != '-') model_file = argv[1];
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app.LoadModel(model_file);
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while (app.Update()) {
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app.Sync();
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app.BuildGui();
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app.Render();
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}
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return 0;
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}
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