Add a README with instructions for how to build and run MuJoCo Studio externally

PiperOrigin-RevId: 833336577 Change-Id: Ib5f5ef33abe820796559a9da352360f57ea64bc8
2025-11-17 07:47:50 -08:00
parent 12e24d66f6
commit 85b6194f91
2 changed files with 165 additions and 0 deletions
@@ -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