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- // Copyright 2021 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 <cctype>
- #include <cstddef>
- #include <cstring>
- #include <iostream>
- #include <mujoco/mujoco.h>
- // help
- static constexpr char helpstring[] =
- "\n Usage: compile infile outfile\n"
- " infile can be in mjcf, urdf, mjb format\n"
- " outfile can be in mjcf, mjb, txt format\n\n"
- " Example: compile model.xml model.mjb\n";
- // deallocate and print message
- int finish(const char* msg = 0, mjModel* m = 0) {
- // deallocated everything
- if (m) {
- mj_deleteModel(m);
- }
- // print message
- if (msg) {
- std::cout << msg << std::endl;
- }
- return 0;
- }
- // possible file types
- enum {
- typeUNKNOWN = 0,
- typeXML,
- typeMJB,
- typeTXT
- };
- // determine file type
- int filetype(const char* filename) {
- // convert to lower case for string comparison
- char lower[1000];
- std::size_t i=0;
- while (i<std::strlen(filename) && i<999) {
- lower[i] = (char)tolower(filename[i]);
- i++;
- }
- lower[i] = 0;
- // find last dot
- int dot = (int)std::strlen(lower);
- while (dot>=0 && lower[dot]!='.') {
- dot--;
- }
- // no dot found
- if (dot<0) {
- return typeUNKNOWN;
- }
- // check extension
- if (!std::strcmp(lower+dot, ".xml") || !std::strcmp(lower+dot, ".urdf")) {
- return typeXML;
- } else if (!std::strcmp(lower+dot, ".mjb")) {
- return typeMJB;
- } else if (!std::strcmp(lower+dot, ".txt")) {
- return typeTXT;
- } else {
- return typeUNKNOWN;
- }
- }
- // main function
- int main(int argc, char** argv) {
- // model and error
- mjModel* m = 0;
- char error[1000];
- // print help if arguments are missing
- if (argc!=3) {
- return finish(helpstring);
- }
- // determine file types
- int type1 = filetype(argv[1]);
- int type2 = filetype(argv[2]);
- // check types
- if (type1==typeUNKNOWN || type1==typeTXT ||
- type2==typeUNKNOWN || (type1==typeMJB && type2==typeXML)) {
- return finish("Illegal combination of file formats");
- }
- // check if output file exists
- std::FILE* fp = std::fopen(argv[2], "r");
- if (fp) {
- std::cout << "Output file already exists, overwrite? (Y/n) ";
- char c;
- std::cin >> c;
- if (c!='y' && c!='Y') {
- std::fclose(fp);
- return finish();
- }
- }
- // load model
- if (type1==typeXML) {
- m = mj_loadXML(argv[1], 0, error, 1000);
- } else {
- m = mj_loadModel(argv[1], 0);
- }
- // check error
- if (!m) {
- if (type1==typeXML) {
- return finish(error, 0);
- } else {
- return finish("Could not load model", 0);
- }
- }
- // save model
- if (type2==typeXML) {
- if (!mj_saveLastXML(argv[2], m, error, 1000)) {
- return finish(error, m);
- }
- } else if (type2==typeMJB) {
- mj_saveModel(m, argv[2], 0, 0);
- } else {
- mj_printModel(m, argv[2]);
- }
- // finalize
- return finish("Done", m);
- }
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