Implementation:Google deepmind Mujoco Studio App Header

Knowledge Sources	Google_deepmind_Mujoco
Domains	Application, API Declaration
Last Updated	2026-02-15 04:00 GMT

Overview

Declares the App class interface for MuJoCo Studio, including configuration, model loading, simulation update, GUI building, and rendering methods.

Description

app.h defines the mujoco::studio::App class which owns and orchestrates a complete MuJoCo simulation session. The Config struct specifies window dimensions, INI settings path, and offscreen rendering mode. The class declares methods for model loading (InitEmptyModel, LoadModelFromFile, LoadModelFromBuffer), simulation lifecycle (Update, BuildGui), and holds members from the platform layer: Window, Renderer, StepControl, SimProfiler, SimHistory, ModelHolder, and PictureGui. It also includes mjvOption, mjvCamera, mjvPerturb for visualization state.

Usage

Included by app.cc and the Studio main entry point. The header defines the complete public interface for the Studio application, enabling external code to create and control Studio instances programmatically.

Code Reference

Source Location

Repository: Google_deepmind_Mujoco
File: src/experimental/studio/app.h
Lines: 1-248

Key Functions

class App {
  struct Config { int width; int height; std::string ini_path; bool offscreen_mode; };
  explicit App(Config config);
  void InitEmptyModel();
  void LoadModelFromFile(const std::string& filepath);
  void LoadModelFromBuffer(std::span<const std::byte> buffer, std::string_view content_type, std::string_view name);
  bool Update();
  void BuildGui();
};

Import

#include "experimental/studio/app.h"

I/O Contract

Inputs

Name	Type	Required	Description
config	App::Config	Yes	Window size, INI path, offscreen mode
filepath	std::string	No	Model file path for LoadModelFromFile
buffer	std::span<const std::byte>	No	Model data buffer for LoadModelFromBuffer

Outputs

Name	Type	Description
bool	bool	Update() returns false when the application should exit

Related Pages

Environment:Google_deepmind_Mujoco_C_Build_Environment

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Principle

Implementation

Heuristic

Environment