From 8db92ab4a9cf947d5cd38daad7559e6ea3d59fe9 Mon Sep 17 00:00:00 2001
From: Michael Moss <mmoss@google.com>
Date: Thu, 18 Jun 2026 08:43:37 -0700
Subject: [PATCH] Enable building Studio (Linux only) as a component of the
 main MuJoCo build.

And remove the separate, conditional (and hacky) "build_studio" step.

PiperOrigin-RevId: 934375150
Change-Id: I46514d0f33c17bb29625b818cdde3a285fd2c439
---
 .../mujoco/experimental/studio/CMakeLists.txt | 15 ++++++++++
 python/setup.py                               | 28 +++++++++++++++++--
 2 files changed, 41 insertions(+), 2 deletions(-)

diff --git a/python/mujoco/experimental/studio/CMakeLists.txt b/python/mujoco/experimental/studio/CMakeLists.txt
index 14f46473..7b392f53 100644
--- a/python/mujoco/experimental/studio/CMakeLists.txt
+++ b/python/mujoco/experimental/studio/CMakeLists.txt
@@ -68,3 +68,18 @@ target_include_directories(implot PRIVATE ../dear_imgui)
 set_target_properties(implot PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../implot"
 )
+
+# Workaround for duplicate symbol error (wp_fractional_scale_manager_v1_interface)
+# when linking both GLFW (via Filament) and SDL2 statically on Linux.
+if(UNIX AND NOT APPLE)
+  set(STUDIO_PY_MODULES
+      parser
+      native_viewer_cc
+      renderer
+      ux
+      sim
+  )
+  foreach(target ${STUDIO_PY_MODULES})
+    target_link_options(${target} PRIVATE "-Wl,--allow-multiple-definition")
+  endforeach()
+endif()
diff --git a/python/setup.py b/python/setup.py
index 02153019..11feec15 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -218,11 +218,35 @@ class BuildCMakeExtension(build_ext.build_ext):
     )
     os.makedirs(dst)
     for directory, _, filenames in os.walk(self._mujoco_include_path):
+      rel_dir = os.path.relpath(directory, self._mujoco_include_path)
+
+      # Skip third-party directories
+      if rel_dir.startswith(('SDL2', 'math', 'misc')):
+        continue
+
       for filename in fnmatch.filter(filenames, '*.h'):
-        shutil.copyfile(
-            os.path.join(directory, filename), os.path.join(dst, filename)
+        rel_file_path = os.path.relpath(
+            os.path.join(directory, filename), self._mujoco_include_path
         )
 
+        # Skip third-party files in the root include path (for framework case)
+        if rel_dir == '.' and not (
+            filename == 'mujoco.h' or filename.startswith('mj')
+        ):
+          continue
+
+        # Reconstruct destination path preserving structure
+        # Strip leading 'mujoco/' if present to avoid duplicate 'mujoco/mujoco/'
+        if rel_file_path.startswith('mujoco/'):
+          target_rel_path = rel_file_path[len('mujoco/') :]
+        else:
+          target_rel_path = rel_file_path
+
+        target_dst = os.path.join(dst, target_rel_path)
+        os.makedirs(os.path.dirname(target_dst), exist_ok=True)
+        shutil.copyfile(os.path.join(directory, filename), target_dst)
+
+
   def _copy_studio_assets(self):
     assets_src = None
     for directory, subdirs, _ in os.walk(os.environ[MUJOCO_PATH]):