Function main

TextOpDeploy/src/unitree_mujoco/simulate/src/main.cc:598–654

run event loop

// run event loop
int main(int argc, char **argv)
{
    // display an error if running on macOS under Rosetta 2
#if defined(__APPLE__) && defined(__AVX__)
    if (rosetta_error_msg)
    {
        DisplayErrorDialogBox("Rosetta 2 is not supported", rosetta_error_msg);
        std::exit(1);
    }
#endif

    // print version, check compatibility
    std::printf("MuJoCo version %s\n", mj_versionString());
    if (mjVERSION_HEADER != mj_version())
    {
        mju_error("Headers and library have different versions");
    }

    // scan for libraries in the plugin directory to load additional plugins
    scanPluginLibraries();

    mjvCamera cam;
    mjv_defaultCamera(&cam);

    mjvOption opt;
    mjv_defaultOption(&opt);

    mjvPerturb pert;
    mjv_defaultPerturb(&pert);

    // Load simulation configuration
    std::filesystem::path proj_dir = std::filesystem::path(getExecutableDir()).parent_path();
    param::config.load_from_yaml(proj_dir / "config.yaml");
    param::helper(argc, argv);
    if (param::config.robot_scene.is_relative())
    {
        param::config.robot_scene = proj_dir.parent_path() / "unitree_robots" /
                                    param::config.robot / param::config.robot_scene;
    }

    // simulate object encapsulates the UI
    auto sim = std::make_unique<mj::Simulate>(std::make_unique<mj::GlfwAdapter>(), &cam, &opt,
                                              &pert, /* is_passive = */ false);

    sim->use_elastic_band_ = param::config.enable_elastic_band;

    std::thread unitree_thread(UnitreeSdk2BridgeThread, nullptr);

    // start physics thread
    std::thread physicsthreadhandle(&PhysicsThread, sim.get(), param::config.robot_scene.c_str());
    // start simulation UI loop (blocking call)
    sim->RenderLoop();
    physicsthreadhandle.join();

    pthread_exit(NULL);
    return 0;
}