Add Python Studio CMake configs and integrate into python build and packaging

PiperOrigin-RevId: 930532579
Change-Id: I2c4b51664475cc8fba92d70d072528843aa03f0c

python/mujoco/CMakeLists.txt

@@ -150,6 +150,7 @@ if(NOT TARGET mujoco::platform)
     foreach(dep_lib IN ITEMS
       mujoco_filament
       dear_imgui
+      dear_imgui_stdlib
       implot
       filament
       backend
@@ -178,7 +179,12 @@ if(NOT TARGET mujoco::platform)
     )
       find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_LIBRARY_DIR})
       if(DEP_PATH_${dep_lib})
-        list(APPEND PLATFORM_DEPS "${DEP_PATH_${dep_lib}}")
+        add_library(mujoco::dep::${dep_lib} STATIC IMPORTED GLOBAL)
+        set_target_properties(mujoco::dep::${dep_lib} PROPERTIES
+          IMPORTED_LOCATION "${DEP_PATH_${dep_lib}}"
+          INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_INCLUDE}"
+        )
+        list(APPEND PLATFORM_DEPS mujoco::dep::${dep_lib})
       endif()
     endforeach()
 
@@ -524,6 +530,8 @@ target_link_libraries(
           structs_header
 )
 
+add_subdirectory(experimental/studio)
+
 set(LIBRARIES_FOR_WHEEL
     "$<TARGET_FILE:_callbacks>"
     "$<TARGET_FILE:_constants>"
@@ -538,6 +546,12 @@ set(LIBRARIES_FOR_WHEEL
     "$<TARGET_FILE:mujoco>"
 )
 
+if(MUJOCO_STUDIO_TARGETS)
+  foreach(target IN LISTS MUJOCO_STUDIO_TARGETS)
+    list(APPEND LIBRARIES_FOR_WHEEL "$<TARGET_FILE:${target}>")
+  endforeach()
+endif()
+
 if(APPLE)
   add_executable(mjpython mjpython/mjpython.mm)
   target_include_directories(mjpython PRIVATE "${Python3_INCLUDE_DIRS}")
@@ -573,6 +587,9 @@ if(MUJOCO_PYTHON_MAKE_WHEEL)
     _structs
     mujoco
   )
+  if(MUJOCO_STUDIO_TARGETS)
+    add_dependencies(wheel ${MUJOCO_STUDIO_TARGETS})
+  endif()
   if(APPLE)
     add_dependencies(wheel mjpython)
   endif()

python/mujoco/experimental/studio/CMakeLists.txt

@@ -0,0 +1,70 @@
+# 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.
+
+if(NOT TARGET mujoco::platform)
+  message(WARNING "mujoco::platform target not found. experimental/studio bindings will not be built.")
+  return()
+endif()
+
+mujoco_pybind11_module(parser parser.cc)
+target_link_libraries(parser PRIVATE mujoco::platform structs_header structs_wrappers)
+
+mujoco_pybind11_module(native_viewer_cc native_viewer.cc)
+target_link_libraries(native_viewer_cc PRIVATE
+  mujoco::platform
+  structs_header
+)
+
+mujoco_pybind11_module(renderer renderer.cc)
+target_link_libraries(renderer PRIVATE mujoco::platform structs_header)
+
+mujoco_pybind11_module(ux ux.cc)
+target_link_libraries(ux PRIVATE
+  mujoco::platform
+  structs_header
+)
+
+mujoco_pybind11_module(sim sim.cc)
+target_link_libraries(sim PRIVATE mujoco::platform structs_header)
+
+set(MUJOCO_STUDIO_TARGETS
+    parser
+    native_viewer_cc
+    renderer
+    ux
+    sim
+    PARENT_SCOPE
+)
+
+# dear_imgui bindings
+mujoco_pybind11_module(dear_imgui ../dear_imgui/dear_imgui.cc)
+target_link_libraries(dear_imgui PRIVATE
+  mujoco::dep::dear_imgui
+  mujoco::dep::dear_imgui_stdlib
+)
+target_include_directories(dear_imgui PRIVATE ../dear_imgui)
+set_target_properties(dear_imgui PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../dear_imgui"
+)
+
+# implot bindings
+mujoco_pybind11_module(implot ../implot/implot.cc)
+target_link_libraries(implot PRIVATE
+  mujoco::dep::implot
+  mujoco::dep::dear_imgui
+)
+target_include_directories(implot PRIVATE ../dear_imgui)
+set_target_properties(implot PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../implot"
+)

python/setup.py

@@ -382,6 +382,15 @@ setuptools.setup(
         CMakeExtension('mujoco._simulate'),
         CMakeExtension('mujoco._specs'),
         CMakeExtension('mujoco._structs'),
+        # Studio extensions
+        CMakeExtension('mujoco.experimental.studio.parser'),
+        CMakeExtension('mujoco.experimental.studio.native_viewer_cc'),
+        CMakeExtension('mujoco.experimental.studio.renderer'),
+        CMakeExtension('mujoco.experimental.studio.ux'),
+        CMakeExtension('mujoco.experimental.studio.sim'),
+        # ImGui/ImPlot extensions
+        CMakeExtension('mujoco.experimental.dear_imgui.dear_imgui'),
+        CMakeExtension('mujoco.experimental.implot.implot'),
     ],
     scripts=['mujoco/mjpython/mjpython.py']
     if platform.system() == 'Darwin'