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.

To keep Studio build artifacts separate from other MuJoCo builds, you can also configure an isolated build directory manually:

cmake -B build-studio \
  -DCMAKE_BUILD_TYPE=Release \
  -DUSE_STATIC_LIBCXX=OFF \
  -DBUILD_SHARED_LIB=OFF \
  -DMUJOCO_USE_FILAMENT=ON \
  -DMUJOCO_BUILD_EXAMPLES=OFF \
  -DMUJOCO_BUILD_SIMULATE=OFF \
  -DMUJOCO_BUILD_TESTS=OFF \
  -DMUJOCO_TEST_PYTHON_UTIL=OFF \
  -DMUJOCO_WITH_USD=OFF \
  -DMUJOCO_BUILD_STUDIO=ON \
  -DFILAMENT_SKIP_SAMPLES=ON \
  -DCMAKE_CXX_FLAGS=-Wno-error=deprecated-declarations \
  -DFILAMENT_SHORTEN_MSVC_COMPILATION=OFF
cmake --build build-studio --config Release --target mujoco_studio --parallel

Run mujoco_studio from the build output directory so it can find the copied font and Filament assets:

cd build-studio/bin
./mujoco_studio --gfx=opengl

On macOS, Studio defaults to Filament OpenGL. The OpenGL implementation may be provided by Apple's Metal-backed OpenGL layer, so runtime logs can mention both OpenGL and Metal/Apple GPU details.

Troubleshooting

If configure fails while resolving Filament dependencies, check whether CMake is finding package-manager CMake configs from environments such as Anaconda. In particular, an unrelated abslConfig.cmake can conflict with MuJoCo's fetched Abseil targets. Remove that prefix from CMAKE_PREFIX_PATH, or configure with CMAKE_IGNORE_PREFIX_PATH pointing at the conflicting environment prefix.

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.

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.