Add a README with instructions for how to build and run MuJoCo Studio externally
PiperOrigin-RevId: 833336577 Change-Id: Ib5f5ef33abe820796559a9da352360f57ea64bc8
This commit is contained in:
Matija Kecman
committed by
Copybara-Service
Copybara-Service
parent
12e24d66f6
commit
85b6194f91
@@ -0,0 +1,66 @@
|
||||
# MuJoCo Studio
|
||||
|
||||
MuJoCo Studio is the next iteration of the [simulate](../../../simulate)
|
||||
application. The UI has been reimplemented using [Dear ImGui](https://github.com/ocornut/imgui)
|
||||
and the default renderer has been switched to Filament. The application is
|
||||
still WIP, see the [Future Work](#future-work) section for details.
|
||||
|
||||
## Usage
|
||||
|
||||
Configure and build MuJoCo Studio by running this command from the top-level
|
||||
directory. Then follow the printed instructions to run the executable.
|
||||
|
||||
```
|
||||
bash build.sh
|
||||
```
|
||||
|
||||
> [!NOTE] For now [`build.sh`](build.sh) script works on windows in a git bash
|
||||
> shell.
|
||||
|
||||
## Development
|
||||
|
||||
The [`build.sh`](build.sh) script is intended to get you up and running quickly.
|
||||
If you intend to develop the application you may prefer to work from an IDE:
|
||||
|
||||
* [Clion](https://www.jetbrains.com/clion/). You should be able to set this up
|
||||
to work with the cmake files we provide.
|
||||
|
||||
* [VSCode](https://code.visualstudio.com/). We have found that Microsoft's
|
||||
[CMake Tools](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cmake-tools)
|
||||
extension works well.
|
||||
|
||||
* [Visual Studio](https://visualstudio.microsoft.com/). Follow these
|
||||
[instructions](https://learn.microsoft.com/en-us/cpp/build/cmake-projects-in-visual-studio?view=msvc-170).
|
||||
|
||||
## Filament Rendering
|
||||
|
||||
Studio uses legacy OpenGL rendering by default but there is an option to use
|
||||
Physically Based Rendering via [Filament](https://google.github.io/filament/Filament.md.html).
|
||||
To enable Filament you need to `-DMUJOCO_USE_FILAMENT=ON` during the cmake
|
||||
configuration step. The Filament renderer has multiple rendering backends,
|
||||
on Linux OpenGL is the default but Vulkan can be used by also providing
|
||||
the `-DMUJOCO_USE_FILAMENT_VULKAN=ON` option.
|
||||
|
||||
Also note that you will need to run the application from the folder containing
|
||||
the executable so that the expected materials/assets can be found.
|
||||
|
||||
> [!WARNING] Filament rendering currently supported on Linux. We are actively
|
||||
> working on bugs and build issues we've encountered on MacOS and Windows.
|
||||
> Contributions improving support on those platforms are very welcome, your
|
||||
> fixes may need to be applied in the upstream [Filament](https://github.com/google/filament)
|
||||
> GitHub repository.
|
||||
|
||||
## Known Bugs
|
||||
|
||||
* MuJoCo Studio does not yet work using Wayland on Linux, use X11 instead.
|
||||
|
||||
## Future Work
|
||||
|
||||
1. **Stability and Robustness**. We need user feedback to find and fix bugs.
|
||||
|
||||
1. **UI/UX improvements**. We have ported the simulate UI to make it easier to
|
||||
users to switch. We will be making further changes to make use of the
|
||||
flexibility offered by Dear ImGui ([examples](https://github.com/ocornut/imgui/issues/8942)).
|
||||
|
||||
1. **Python integration**. As with simulate, we would like to make Studio usable
|
||||
via Python.
|
||||
Executable
+99
@@ -0,0 +1,99 @@
|
||||
#!/bin/bash
|
||||
# Copyright 2025 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
|
||||
#
|
||||
# http://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.
|
||||
|
||||
|
||||
# Detect the operating system
|
||||
OS="$(uname -s)"
|
||||
case "${OS}" in
|
||||
Linux*) export OS_NAME="linux" ;;
|
||||
Darwin*) export OS_NAME="macos" ;;
|
||||
MINGW* | CYGWIN* | MSYS*) export OS_NAME="windows" ;;
|
||||
*) echo "Unsupported OS: ${OS}" >&2; exit 1 ;;
|
||||
esac
|
||||
|
||||
# Parse arguments
|
||||
do_configure=false
|
||||
do_build=false
|
||||
build_type="Release"
|
||||
explicit_action=false
|
||||
|
||||
for arg in "$@"; do
|
||||
case "$arg" in
|
||||
configure|config)
|
||||
do_configure=true
|
||||
explicit_action=true
|
||||
;;
|
||||
build)
|
||||
do_build=true
|
||||
explicit_action=true
|
||||
;;
|
||||
debug|dbg)
|
||||
build_type="Debug"
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
# If no specific action (configure/build) was requested, do both by default.
|
||||
if [[ "$explicit_action" == false ]]; then
|
||||
do_configure=true
|
||||
do_build=true
|
||||
fi
|
||||
|
||||
cd "$(git rev-parse --show-toplevel)"
|
||||
|
||||
# Configure MuJoCo Studio
|
||||
if [[ "$do_configure" == true ]]; then
|
||||
echo "Configuring MuJoCo Studio (${build_type})..."
|
||||
CMAKE_CONFIG_ARGS=(
|
||||
"-B build"
|
||||
"-DCMAKE_BUILD_TYPE=${build_type}"
|
||||
"-DUSE_STATIC_LIBCXX=OFF"
|
||||
"-DBUILD_SHARED_LIB=OFF"
|
||||
"-DMUJOCO_USE_FILAMENT=OFF"
|
||||
"-DMUJOCO_USE_FILAMENT_VULKAN=OFF"
|
||||
"-DMUJOCO_BUILD_EXAMPLES=OFF"
|
||||
"-DMUJOCO_BUILD_SIMULATE=OFF"
|
||||
"-DMUJOCO_BUILD_TESTS=OFF"
|
||||
"-DMUJOCO_TEST_PYTHON_UTIL=OFF"
|
||||
"-DMUJOCO_WITH_USD=OFF"
|
||||
"-DMUJOCO_BUILD_STUDIO=ON"
|
||||
)
|
||||
|
||||
# Add user-defined CMAKE_ARGS at the end so they override other settings.
|
||||
if [[ -n "${CMAKE_ARGS}" ]]; then
|
||||
read -a cmake_args_arr <<<"$CMAKE_ARGS"
|
||||
CMAKE_CONFIG_ARGS+=("${cmake_args_arr[@]}")
|
||||
fi
|
||||
|
||||
cmake ${CMAKE_CONFIG_ARGS[@]}
|
||||
|
||||
echo "Configuring MuJoCo Studio (${build_type})... DONE"
|
||||
fi
|
||||
|
||||
# Build MuJoCo Studio
|
||||
if [[ "$do_build" == true ]]; then
|
||||
echo "Building MuJoCo Studio..."
|
||||
cmake --build build --config=${build_type} --target mujoco_studio --parallel
|
||||
echo "Building MuJoCo Studio... DONE"
|
||||
|
||||
# Print the command to run the built MuJoCo Studio from the right directory.
|
||||
echo "Use the following command to run mujoco_studio"
|
||||
echo ""
|
||||
if [[ "${OS_NAME}" == "windows" ]]; then
|
||||
echo " cd $(git rev-parse --show-toplevel)/build/bin && ./${build_type}/mujoco_studio.exe "
|
||||
else
|
||||
echo " cd $(git rev-parse --show-toplevel)/build/bin && ./mujoco_studio "
|
||||
fi
|
||||
fi
|
||||
Reference in New Issue
Block a user