CMakeLists for mjz.

PiperOrigin-RevId: 862214752
Change-Id: I498a1f0092adc9e94016bf23589403296bffb4f7

CMakeLists.txt

@@ -215,6 +215,7 @@ if(MUJOCO_BUILD_SIMULATE)
 endif()
 
 if(MUJOCO_BUILD_STUDIO)
+  add_subdirectory(src/experimental/mjz)
   add_subdirectory(src/experimental/platform)
   add_subdirectory(src/experimental/studio)
 endif()

cmake/third_party_deps/miniz.cmake

@@ -0,0 +1,29 @@
+# Copyright 2026 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
+#
+#     https://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.
+
+set(MUJOCO_DEP_VERSION_miniz
+    2.1.0
+    CACHE STRING "Tag/version of `miniz` to be fetched."
+)
+mark_as_advanced(MUJOCO_DEP_VERSION_miniz)
+
+include(FindOrFetch)
+
+fetchpackage(
+    PACKAGE_NAME  miniz
+    GIT_REPO      https://github.com/richgel999/miniz.git
+    GIT_TAG       ${MUJOCO_DEP_VERSION_miniz}
+    TARGETS       miniz
+    CUSTOM_CMAKE  "${CMAKE_SOURCE_DIR}/cmake/third_party_deps/miniz/CMakeLists.txt"
+)

cmake/third_party_deps/miniz/CMakeLists.txt

@@ -0,0 +1,22 @@
+# Copyright 2026 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
+#
+#     https://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.
+
+cmake_minimum_required(VERSION 2.8)
+
+PROJECT(miniz C)
+
+set(miniz_SOURCE miniz.c miniz_zip.c miniz_tinfl.c miniz_tdef.c)
+add_library(miniz STATIC ${miniz_SOURCE})
+
+target_include_directories(miniz PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}")

src/experimental/mjz/CMakeLists.txt

@@ -0,0 +1,37 @@
+# Copyright 2026 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
+#
+#     https://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.
+
+cmake_minimum_required(VERSION 3.16)
+
+set(MUJOCO_MJZ_TARGET_NAME mujoco_mjz)
+
+add_library(${MUJOCO_MJZ_TARGET_NAME} STATIC)
+
+target_include_directories(${MUJOCO_MJZ_TARGET_NAME} PRIVATE
+    ../..
+)
+
+target_sources(${MUJOCO_MJZ_TARGET_NAME}
+    PUBLIC
+        mjz_decoder.cc
+)
+
+include(third_party_deps/miniz)
+
+target_link_libraries(${MUJOCO_MJZ_TARGET_NAME}
+    miniz
+    mujoco::mujoco
+)
+
+add_library(mujoco::mjz ALIAS ${MUJOCO_MJZ_TARGET_NAME})

src/experimental/studio/CMakeLists.txt

@@ -54,6 +54,7 @@ target_link_libraries(${MUJOCO_STUDIO_TARGET_NAME}
         implot
         mujoco::mujoco
         mujoco::platform
+        mujoco::mjz
 )
 
 file(MAKE_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets)