1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
|
// 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, const 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);
}
|
