Haroon Qureshi
680e9a6b79
Mujoco studio now works on Windows and MacOS. PiperOrigin-RevId: 840235447 Change-Id: I66d3430d5d994de2eb13ee08ad3051c6c7187e12
106 lines
3.2 KiB
Bash
Executable File
106 lines
3.2 KiB
Bash
Executable File
#!/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=ON"
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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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"-DFILAMENT_SKIP_SAMPLES=ON"
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# Several dependencies generate deprecated warnings on MacOS.
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"-DCMAKE_CXX_FLAGS=\"-Wno-error=deprecated-declarations\""
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# This flag defines _ITERATOR_DEBUG_LEVEL=0 which conflicts with debug
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# builds.
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"-DFILAMENT_SHORTEN_MSVC_COMPILATION=OFF"
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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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