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Enable MuJoCo Studio build and packaging on macos.

Browse Source 
Also:
- Packages MuJoCo Studio as MuJoCoStudio.app in the MuJoCo.dmg.
- Fixes a Filament compile issue.
- Patches libwebp to fix compile error related to universal builds and forces
  it to build as static.
- Removes the separate, obsolete "build_studio" step.
PiperOrigin-RevId: 934564785
Change-Id: I50c83283b5e138062e37d53926a5a77fdf99dbfa
This commit is contained in:
Michael Moss
2026-06-18 15:02:25 -07:00
committed by Copybara-Service
parent 8db92ab4a9
commit e7ef6528b7
7 changed files with 107 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cmake/libwebp-apple-float16.patch
+8
View File
@@ -0,0 +1,8 @@
diff --git a/cmake/cpu.cmake b/cmake/cpu.cmake
--- a/cmake/cpu.cmake
+++ b/cmake/cpu.cmake
@@ -121,3 +121,3 @@
# Explicitly disable SIMD.
- if(SIMD_DISABLE_FLAGS)
+ if(SIMD_DISABLE_FLAGS AND NOT APPLE)
list(GET SIMD_DISABLE_FLAGS ${I_SIMD} SIMD_COMPILE_FLAG)
cmake/third_party_deps/filament.cmake
+5
View File
@@ -32,6 +32,11 @@ else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -include cstring -include optional")
endif()
# Filament generates deprecated warnings on MacOS.
if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error=deprecated-declarations")
endif()
set(FILAMENT_ENABLE_EXPERIMENTAL_GCC_SUPPORT ON)
set(FILAMENT_SKIP_SDL2 ON)
set(FILAMENT_USE_EXTERNAL_ABSL ON)
cmake/third_party_deps/libwebp.cmake
+12
View File
@@ -20,9 +20,21 @@ mark_as_advanced(MUJOCO_DEP_VERSION_libwebp)
include(FindOrFetch)
set(LIBWEBP_PATCH_COMMAND
git apply --reject --whitespace=fix ${mujoco_SOURCE_DIR}/cmake/libwebp-apple-float16.patch
)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS OFF)
fetchpackage(
PACKAGE_NAME libwebp
GIT_REPO https://github.com/webmproject/libwebp.git
GIT_TAG ${MUJOCO_DEP_VERSION_libwebp}
TARGETS webp
PATCH_COMMAND ${LIBWEBP_PATCH_COMMAND}
)
set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_OLD})
python/mujoco/CMakeLists.txt
+29 -3
View File
@@ -89,6 +89,7 @@ if(NOT TARGET mujoco)
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.10.0.dylib
)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
set(MUJOCO_INCLUDE "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/Headers")
endif()
endif()
@@ -132,8 +133,12 @@ endif()
# =================== MUJOCO PLATFORM STATIC LIBRARY ==========================
if(NOT TARGET mujoco::platform)
set(MUJOCO_PLATFORM_HINTS ${MUJOCO_LIBRARY_DIR})
if(MUJOCO_FRAMEWORK)
list(APPEND MUJOCO_PLATFORM_HINTS "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A")
endif()
find_library(
MUJOCO_PLATFORM_LIBRARY mujoco_platform HINTS ${MUJOCO_LIBRARY_DIR}
MUJOCO_PLATFORM_LIBRARY mujoco_platform HINTS ${MUJOCO_PLATFORM_HINTS}
)
if(MUJOCO_PLATFORM_LIBRARY)
message(STATUS "Found mujoco_platform library at ${MUJOCO_PLATFORM_LIBRARY}")
@@ -141,8 +146,9 @@ if(NOT TARGET mujoco::platform)
set_target_properties(mujoco_platform PROPERTIES IMPORTED_LOCATION "${MUJOCO_PLATFORM_LIBRARY}")
add_library(mujoco::platform ALIAS mujoco_platform)
set(PLATFORM_INCLUDES "${MUJOCO_INCLUDE}" "${MUJOCO_INCLUDE}/mujoco" "${MUJOCO_INCLUDE}/SDL2")
set_target_properties(mujoco_platform PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_INCLUDE};${MUJOCO_INCLUDE}/mujoco;${MUJOCO_INCLUDE}/SDL2"
INTERFACE_INCLUDE_DIRECTORIES "${PLATFORM_INCLUDES}"
)
target_compile_features(mujoco_platform INTERFACE cxx_std_20)
@@ -177,7 +183,7 @@ if(NOT TARGET mujoco::platform)
zstd
z
)
find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_LIBRARY_DIR})
find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_PLATFORM_HINTS})
if(DEP_PATH_${dep_lib})
add_library(mujoco::dep::${dep_lib} STATIC IMPORTED GLOBAL)
set_target_properties(mujoco::dep::${dep_lib} PROPERTIES
@@ -191,6 +197,22 @@ if(NOT TARGET mujoco::platform)
if(UNIX AND NOT APPLE)
list(APPEND PLATFORM_DEPS pthread dl rt)
endif()
if(APPLE)
list(APPEND PLATFORM_DEPS
"-framework Cocoa"
"-framework IOKit"
"-framework Carbon"
"-framework ForceFeedback"
"-framework CoreVideo"
"-framework CoreAudio"
"-framework AudioToolbox"
"-framework Metal"
"-framework GameController"
"-framework CoreHaptics"
"-framework AVFoundation"
"-framework QuartzCore"
)
endif()
set_target_properties(mujoco_platform PROPERTIES INTERFACE_LINK_LIBRARIES "${PLATFORM_DEPS}")
endif()
@@ -494,6 +516,10 @@ target_link_libraries(
structs_wrappers
)
if(APPLE)
set_target_properties(_structs PROPERTIES INTERPROCEDURAL_OPTIMIZATION FALSE)
endif()
if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
add_custom_command(
OUTPUT specs.cc.inc
python/mujoco/experimental/studio/CMakeLists.txt
+23
View File
@@ -83,3 +83,26 @@ if(UNIX AND NOT APPLE)
target_link_options(${target} PRIVATE "-Wl,--allow-multiple-definition")
endforeach()
endif()
if(APPLE)
set(STUDIO_PY_MODULES
parser
native_viewer_cc
renderer
ux
sim
dear_imgui
implot
)
foreach(target ${STUDIO_PY_MODULES})
if(TARGET ${target})
add_custom_command(
TARGET ${target}
POST_BUILD
COMMAND
install_name_tool -add_rpath @loader_path/../../ $<TARGET_FILE:${target}>
)
endif()
endforeach()
endif()
src/experimental/studio/CMakeLists.txt
+26 -8
View File
@@ -54,24 +54,31 @@ function(configure_studio_target TARGET_NAME)
mujoco::platform
)
file(MAKE_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets)
get_target_property(IS_BUNDLE ${TARGET_NAME} MACOSX_BUNDLE)
if(IS_BUNDLE)
set(STUDIO_ASSETS_DIR $<TARGET_FILE_DIR:${TARGET_NAME}>/../Resources/assets)
else()
set(STUDIO_ASSETS_DIR ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets)
endif()
add_custom_command(
TARGET ${TARGET_NAME}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
COMMAND ${CMAKE_COMMAND}
-E copy
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../_deps/opensans-src/fonts/ttf/OpenSans-Regular.ttf
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets
${STUDIO_ASSETS_DIR}
COMMENT "Copying OpenSans-Regular.ttf assets to build directory"
)
add_custom_command(
TARGET ${TARGET_NAME}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
COMMAND ${CMAKE_COMMAND}
-E copy
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../_deps/font_awesome-src/fonts/fontawesome-webfont.ttf
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets
${STUDIO_ASSETS_DIR}
COMMENT "Copying fontawesome-webfont.ttf to build directory"
)
@@ -80,10 +87,11 @@ function(configure_studio_target TARGET_NAME)
add_custom_command(
TARGET ${TARGET_NAME}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
COMMAND ${CMAKE_COMMAND}
-E copy_directory
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../src/render/filament/assets
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets
${STUDIO_ASSETS_DIR}
COMMENT "Copying Filament assets to build directory"
)
endif()
@@ -92,6 +100,13 @@ endfunction()
# Desktop Studio target.
if(NOT EMSCRIPTEN)
add_executable(mujoco_studio)
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set_target_properties(mujoco_studio PROPERTIES
MACOSX_BUNDLE TRUE
INSTALL_RPATH "@executable_path/../Frameworks;@executable_path/../../.."
BUILD_WITH_INSTALL_RPATH TRUE
)
endif()
target_sources(mujoco_studio PRIVATE main.cc)
configure_studio_target(mujoco_studio)
install(
@@ -99,10 +114,13 @@ if(NOT EMSCRIPTEN)
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
)
install(
DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets"
DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
)
get_target_property(IS_BUNDLE mujoco_studio MACOSX_BUNDLE)
if(NOT IS_BUNDLE)
install(
DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets"
DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
)
endif()
endif()
# WASM Live target.
src/experimental/studio/main.cc
+4
View File
@@ -42,6 +42,10 @@ std::string Resolve(std::string_view path) {
if (exe_dir.empty()) {
return std::string("assets/") + std::string(subpath);
}
std::filesystem::path resources_dir = exe_dir.parent_path() / "Resources";
if (std::filesystem::exists(resources_dir / "assets")) {
return (resources_dir / "assets" / subpath).string();
}
return (exe_dir / "assets" / subpath).string();
}