From 0dc37fd77b702f846ad57b52ed085eda0659743f Mon Sep 17 00:00:00 2001
From: Michael Moss <mmoss@google.com>
Date: Fri, 19 Jun 2026 00:19:43 -0700
Subject: [PATCH] Add RPATH to fix mujoco_studio library loading error on
 Linux.

PiperOrigin-RevId: 934768602
Change-Id: I0b54ee1b3ed1a1ed85bcc88b36443539056275b1
---
 src/experimental/studio/CMakeLists.txt | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/experimental/studio/CMakeLists.txt b/src/experimental/studio/CMakeLists.txt
index bde8504d..4fcbb3b6 100644
--- a/src/experimental/studio/CMakeLists.txt
+++ b/src/experimental/studio/CMakeLists.txt
@@ -109,6 +109,19 @@ if(NOT EMSCRIPTEN)
     endif()
     target_sources(mujoco_studio PRIVATE main.cc)
     configure_studio_target(mujoco_studio)
+    if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
+        include(TargetAddRpath)
+        target_add_rpath(
+          TARGETS
+          mujoco_studio
+          INSTALL_DIRECTORY
+          "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
+          LIB_DIRS
+          "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
+          DEPENDS
+          MUJOCO_ENABLE_RPATH
+        )
+    endif()
     install(
       TARGETS mujoco_studio
       RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio