Haroon Qureshi
58a54ef474
PiperOrigin-RevId: 956506812 Change-Id: I9acde018e282171f41e0f8c756cd02b39c35dc67
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
// Copyright 2026 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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#include "experimental/studio/launcher.h"
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#include <cstdlib>
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#include <cstring>
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#include <string>
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#include <string_view>
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#include <mujoco/mujoco.h>
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#include "experimental/platform/hal/graphics_mode.h"
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#include "experimental/platform/resources.h"
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#include "experimental/studio/app.h"
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namespace mujoco::studio {
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int LaunchStudio(int argc, char** argv, LauncherConfig config) {
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const char* home = std::getenv("HOME");
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const std::string ini_path = std::string(home ? home : ".") + "/.mujoco.ini";
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mujoco::platform::RegisterResourceProviders();
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if (config.gfx_mode.empty()) {
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const char* display = std::getenv("DISPLAY");
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if (display && strcmp(display, ":20") == 0) {
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config.gfx_mode = "opengl_headless";
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}
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}
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const char* session_type = std::getenv("XDG_SESSION_TYPE");
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const char* wayland_display = std::getenv("WAYLAND_DISPLAY");
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if ((session_type && std::string_view(session_type) == "wayland") ||
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wayland_display) {
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if (config.gfx_mode.empty()) {
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config.gfx_mode = "opengl_headless";
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} else if (config.gfx_mode == "classic" || config.gfx_mode == "opengl") {
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mju_error(
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"Wayland does not support '%s' graphics mode. "
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"Restart with a different graphics mode, or login using X11.",
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config.gfx_mode.c_str());
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}
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}
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mujoco::platform::GraphicsMode gfx_mode =
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mujoco::platform::GraphicsModeFromString(
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config.gfx_mode, mujoco::platform::GraphicsMode::FilamentOpenGl);
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// Use config values if they are set (non-default), otherwise use flags.
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mujoco::studio::App app({
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.width = config.window_width,
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.height = config.window_height,
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.ini_path = ini_path,
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.gfx_mode = gfx_mode,
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.title = config.title,
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});
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if (config.model_file.empty()) {
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app.InitEmptyModel();
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} else {
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app.LoadModelFromFile(config.model_file);
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}
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while (app.Update()) {
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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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} // namespace mujoco::studio
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