Add a README with instructions for how to build and run MuJoCo Studio externally
PiperOrigin-RevId: 833336577 Change-Id: Ib5f5ef33abe820796559a9da352360f57ea64bc8
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Matija Kecman
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Copybara-Service
Copybara-Service
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# MuJoCo Studio
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MuJoCo Studio is the next iteration of the [simulate](../../../simulate)
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application. The UI has been reimplemented using [Dear ImGui](https://github.com/ocornut/imgui)
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and the default renderer has been switched to Filament. The application is
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still WIP, see the [Future Work](#future-work) section for details.
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## Usage
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Configure and build MuJoCo Studio by running this command from the top-level
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directory. Then follow the printed instructions to run the executable.
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```
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bash build.sh
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```
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> [!NOTE] For now [`build.sh`](build.sh) script works on windows in a git bash
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> shell.
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## Development
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The [`build.sh`](build.sh) script is intended to get you up and running quickly.
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If you intend to develop the application you may prefer to work from an IDE:
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* [Clion](https://www.jetbrains.com/clion/). You should be able to set this up
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to work with the cmake files we provide.
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* [VSCode](https://code.visualstudio.com/). We have found that Microsoft's
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[CMake Tools](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cmake-tools)
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extension works well.
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* [Visual Studio](https://visualstudio.microsoft.com/). Follow these
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[instructions](https://learn.microsoft.com/en-us/cpp/build/cmake-projects-in-visual-studio?view=msvc-170).
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## Filament Rendering
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Studio uses legacy OpenGL rendering by default but there is an option to use
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Physically Based Rendering via [Filament](https://google.github.io/filament/Filament.md.html).
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To enable Filament you need to `-DMUJOCO_USE_FILAMENT=ON` during the cmake
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configuration step. The Filament renderer has multiple rendering backends,
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on Linux OpenGL is the default but Vulkan can be used by also providing
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the `-DMUJOCO_USE_FILAMENT_VULKAN=ON` option.
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Also note that you will need to run the application from the folder containing
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the executable so that the expected materials/assets can be found.
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> [!WARNING] Filament rendering currently supported on Linux. We are actively
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> working on bugs and build issues we've encountered on MacOS and Windows.
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> Contributions improving support on those platforms are very welcome, your
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> fixes may need to be applied in the upstream [Filament](https://github.com/google/filament)
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> GitHub repository.
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## Known Bugs
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* MuJoCo Studio does not yet work using Wayland on Linux, use X11 instead.
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## Future Work
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1. **Stability and Robustness**. We need user feedback to find and fix bugs.
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1. **UI/UX improvements**. We have ported the simulate UI to make it easier to
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users to switch. We will be making further changes to make use of the
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flexibility offered by Dear ImGui ([examples](https://github.com/ocornut/imgui/issues/8942)).
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1. **Python integration**. As with simulate, we would like to make Studio usable
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via Python.
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Executable
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#!/bin/bash
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# Copyright 2025 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Detect the operating system
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OS="$(uname -s)"
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case "${OS}" in
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Linux*) export OS_NAME="linux" ;;
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Darwin*) export OS_NAME="macos" ;;
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MINGW* | CYGWIN* | MSYS*) export OS_NAME="windows" ;;
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*) echo "Unsupported OS: ${OS}" >&2; exit 1 ;;
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esac
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# Parse arguments
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do_configure=false
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do_build=false
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build_type="Release"
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explicit_action=false
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for arg in "$@"; do
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case "$arg" in
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configure|config)
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do_configure=true
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explicit_action=true
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;;
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build)
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do_build=true
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explicit_action=true
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;;
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debug|dbg)
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build_type="Debug"
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;;
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esac
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done
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# If no specific action (configure/build) was requested, do both by default.
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if [[ "$explicit_action" == false ]]; then
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do_configure=true
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do_build=true
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fi
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cd "$(git rev-parse --show-toplevel)"
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# Configure MuJoCo Studio
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if [[ "$do_configure" == true ]]; then
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echo "Configuring MuJoCo Studio (${build_type})..."
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CMAKE_CONFIG_ARGS=(
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"-B build"
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"-DCMAKE_BUILD_TYPE=${build_type}"
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"-DUSE_STATIC_LIBCXX=OFF"
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"-DBUILD_SHARED_LIB=OFF"
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"-DMUJOCO_USE_FILAMENT=OFF"
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"-DMUJOCO_USE_FILAMENT_VULKAN=OFF"
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"-DMUJOCO_BUILD_EXAMPLES=OFF"
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"-DMUJOCO_BUILD_SIMULATE=OFF"
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"-DMUJOCO_BUILD_TESTS=OFF"
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"-DMUJOCO_TEST_PYTHON_UTIL=OFF"
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"-DMUJOCO_WITH_USD=OFF"
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"-DMUJOCO_BUILD_STUDIO=ON"
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)
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# Add user-defined CMAKE_ARGS at the end so they override other settings.
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if [[ -n "${CMAKE_ARGS}" ]]; then
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read -a cmake_args_arr <<<"$CMAKE_ARGS"
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CMAKE_CONFIG_ARGS+=("${cmake_args_arr[@]}")
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fi
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cmake ${CMAKE_CONFIG_ARGS[@]}
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echo "Configuring MuJoCo Studio (${build_type})... DONE"
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fi
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# Build MuJoCo Studio
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if [[ "$do_build" == true ]]; then
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echo "Building MuJoCo Studio..."
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cmake --build build --config=${build_type} --target mujoco_studio --parallel
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echo "Building MuJoCo Studio... DONE"
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# Print the command to run the built MuJoCo Studio from the right directory.
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echo "Use the following command to run mujoco_studio"
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echo ""
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if [[ "${OS_NAME}" == "windows" ]]; then
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echo " cd $(git rev-parse --show-toplevel)/build/bin && ./${build_type}/mujoco_studio.exe "
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else
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echo " cd $(git rev-parse --show-toplevel)/build/bin && ./mujoco_studio "
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fi
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fi
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