Mujoco_WASM/src/experimental/studio

MuJoCo Studio

MuJoCo Studio is the next iteration of the simulate application. The UI has been reimplemented using Dear ImGui and the default renderer has been switched to Filament. The application is still WIP, see the Future Work section for details.

Usage

Configure and build MuJoCo Studio by running this command from the top-level directory. Then follow the printed instructions to run the executable.

bash build.sh

Note

For now build.sh script works on windows in a git bash shell.

Development

The build.sh script is intended to get you up and running quickly. If you intend to develop the application you may prefer to work from an IDE:

• Clion. You should be able to set this up to work with the cmake files we provide.

• VSCode. We have found that Microsoft's CMake Tools extension works well.

• Visual Studio. Follow these instructions.

Filament Rendering

Studio uses legacy OpenGL rendering by default but there is an option to use Physically Based Rendering via Filament. To enable Filament you need to -DMUJOCO_USE_FILAMENT=ON during the cmake configuration step. The Filament renderer has multiple rendering backends, on Linux OpenGL is the default but Vulkan can be used by also providing the -DMUJOCO_USE_FILAMENT_VULKAN=ON option.

Also note that you will need to run the application from the folder containing the executable so that the expected materials/assets can be found.

Known Bugs

• MuJoCo Studio does not yet work using Wayland on Linux, use X11 instead.

Future Work

1. Stability and Robustness. We need user feedback to find and fix bugs.

2. UI/UX improvements. We have ported the simulate UI to make it easier to users to switch. We will be making further changes to make use of the flexibility offered by Dear ImGui (examples).

3. Python integration. As with simulate, we would like to make Studio usable via Python.