Remove separate targets for classic and filament renderer.

The platform::Renderer now supports both implementations at
runtime.

PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839

.github/workflows/build_steps.sh

@@ -147,9 +147,8 @@ build_simulate() {
 }
 
 
-_configure_studio() {
-    # Invoke cmake will all options OFF assuming that the caller will enable
-    # needed options by running `export _CONFIGURE_STUDIO_CMAKE_ARGS=...` first
+configure_studio() {
+    echo "Configuring Studio..."
     cmake -B build \
         -DCMAKE_BUILD_TYPE:STRING=Release \
         -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
@@ -157,28 +156,11 @@ _configure_studio() {
         -DBUILD_SHARED_LIBS=OFF \
         -DMUJOCO_BUILD_EXAMPLES=OFF \
         -DMUJOCO_BUILD_SIMULATE=OFF \
-        -DMUJOCO_BUILD_STUDIO=OFF \
+        -DMUJOCO_BUILD_STUDIO=ON \
         -DMUJOCO_BUILD_TESTS=OFF \
         -DMUJOCO_TEST_PYTHON_UTIL=OFF \
         -DMUJOCO_WITH_USD=OFF \
-        -DMUJOCO_USE_FILAMENT=OFF \
-        -DMUJOCO_USE_FILAMENT_VULKAN=OFF \
-        ${_CONFIGURE_STUDIO_CMAKE_ARGS}
-}
-
-
-configure_studio_legacy_opengl() {
-    echo "Configuring Studio (legacy OpenGL)..."
-    export _CONFIGURE_STUDIO_CMAKE_ARGS="-DMUJOCO_BUILD_STUDIO=ON ${CMAKE_ARGS}"
-    _configure_studio
-    echo "Configuring Studio (legacy OpenGL)... DONE"
-}
-
-
-configure_studio() {
-    echo "Configuring Studio..."
-    export _CONFIGURE_STUDIO_CMAKE_ARGS="-DMUJOCO_BUILD_STUDIO=ON -DMUJOCO_USE_FILAMENT=ON ${CMAKE_ARGS}"
-    _configure_studio
+        -DMUJOCO_USE_FILAMENT=ON
     echo "Configuring Studio... DONE"
 }