Windows ARM64 mujoco python build.

[taesoobear]

Intro

Hi!
I am a professor at Hanyang University. I use MuJoCo for my research on character animation. There are no prebuilt binaries for Windows ARM64 on PyPI, and I know how to build a wheel, so I attempted to build them. Compiling MuJoCo C++ with CMake worked without any issues. Next, I packaged the built binaries following exactly the same structure as the official Windows x64 binaries:

`
PS C:\Users\taeso\mujoco\built> ls
d----- 2025-10-03 7:25 bin
d----- 2025-10-03 7:34 include
d----- 2025-10-03 7:27 lib
d----- 2025-10-03 7:28 model
d----- 2025-10-03 7:28 sample
d----- 2025-10-03 7:28 simulate
-a---- 2025-10-03 7:28 30549 THIRD_PARTY_NOTICES.txt

`

Then, I navigated to the mujoco/python directory and ran the following batch file:
set MUJOCO_PATH="C:\Users\taeso\mujoco\built"
set MUJOCO_PLUGIN_PATH= "C:\Users\taeso\mujoco\built\bin\mujoco_plugin"
python -m build

(Also tried pip install mujoco instead of python -m build)
And this results in an error that I cannot parse:

`
C:\Users\taeso\mujoco\python>python -m build

• Creating isolated environment: venv+pip...
• Installing packages in isolated environment:
  • setuptools
• Getting build dependencies for sdist...
  running egg_info
  writing mujoco.egg-info\PKG-INFO
  writing dependency_links to mujoco.egg-info\dependency_links.txt
  writing requirements to mujoco.egg-info\requires.txt
  writing top-level names to mujoco.egg-info\top_level.txt
  reading manifest file 'mujoco.egg-info\SOURCES.txt'
  reading manifest template 'MANIFEST.in'
  warning: no files found matching 'LICENSE'
  warning: no files found matching '.cc.inc' under directory 'mujoco'
  warning: no files found matching '.cmake' under directory 'mujoco'
  writing manifest file 'mujoco.egg-info\SOURCES.txt'
• Building sdist...
  running sdist
  running egg_info
  writing mujoco.egg-info\PKG-INFO
  writing dependency_links to mujoco.egg-info\dependency_links.txt
  writing requirements to mujoco.egg-info\requires.txt
  writing top-level names to mujoco.egg-info\top_level.txt
  reading manifest file 'mujoco.egg-info\SOURCES.txt'
  reading manifest template 'MANIFEST.in'
  warning: no files found matching 'LICENSE'
  warning: no files found matching '.cc.inc' under directory 'mujoco'
  warning: no files found matching '.cmake' under directory 'mujoco'
  writing manifest file 'mujoco.egg-info\SOURCES.txt'
  running check
  creating mujoco-3.3.7
  creating mujoco-3.3.7\mujoco
  creating mujoco-3.3.7\mujoco.egg-info
  creating mujoco-3.3.7\mujoco\cgl
  creating mujoco-3.3.7\mujoco\egl
  creating mujoco-3.3.7\mujoco\glfw
  creating mujoco-3.3.7\mujoco\introspect
  creating mujoco-3.3.7\mujoco\introspect\codegen
  creating mujoco-3.3.7\mujoco\mjpython
  creating mujoco-3.3.7\mujoco\osmesa
  creating mujoco-3.3.7\mujoco\testdata
  creating mujoco-3.3.7\mujoco\usd
  creating mujoco-3.3.7\mujoco\util
  copying files to mujoco-3.3.7...
  copying MANIFEST.in -> mujoco-3.3.7
  copying README.md -> mujoco-3.3.7
  copying pyproject.toml -> mujoco-3.3.7
  copying setup.py -> mujoco-3.3.7
  copying mujoco\CMakeLists.txt -> mujoco-3.3.7\mujoco
  copying mujoco_init_.py -> mujoco-3.3.7\mujoco
  copying mujoco\bindings_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\callbacks.cc -> mujoco-3.3.7\mujoco
  copying mujoco\constants.cc -> mujoco-3.3.7\mujoco
  copying mujoco\enums.cc -> mujoco-3.3.7\mujoco
  copying mujoco\errors.cc -> mujoco-3.3.7\mujoco
  copying mujoco\errors.h -> mujoco-3.3.7\mujoco
  copying mujoco\functions.cc -> mujoco-3.3.7\mujoco
  copying mujoco\functions.h -> mujoco-3.3.7\mujoco
  copying mujoco\gl_context.py -> mujoco-3.3.7\mujoco
  copying mujoco\indexer_xmacro.h -> mujoco-3.3.7\mujoco
  copying mujoco\indexers.cc -> mujoco-3.3.7\mujoco
  copying mujoco\indexers.h -> mujoco-3.3.7\mujoco
  copying mujoco\memory_leak_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\minimize.py -> mujoco-3.3.7\mujoco
  copying mujoco\minimize_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\msh2obj.py -> mujoco-3.3.7\mujoco
  copying mujoco\msh2obj_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\private.h -> mujoco-3.3.7\mujoco
  copying mujoco\raw.h -> mujoco-3.3.7\mujoco
  copying mujoco\render.cc -> mujoco-3.3.7\mujoco
  copying mujoco\render_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\renderer.py -> mujoco-3.3.7\mujoco
  copying mujoco\renderer_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\rollout.cc -> mujoco-3.3.7\mujoco
  copying mujoco\rollout.py -> mujoco-3.3.7\mujoco
  copying mujoco\rollout_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\serialization.h -> mujoco-3.3.7\mujoco
  copying mujoco\simulate.cc -> mujoco-3.3.7\mujoco
  copying mujoco\specs.cc -> mujoco-3.3.7\mujoco
  copying mujoco\specs_test.py -> mujoco-3.3.7\mujoco
  copying mujoco\specs_wrapper.cc -> mujoco-3.3.7\mujoco
  copying mujoco\specs_wrapper.h -> mujoco-3.3.7\mujoco
  copying mujoco\structs.cc -> mujoco-3.3.7\mujoco
  copying mujoco\structs.h -> mujoco-3.3.7\mujoco
  copying mujoco\structs_wrappers.cc -> mujoco-3.3.7\mujoco
  copying mujoco\threadpool.cc -> mujoco-3.3.7\mujoco
  copying mujoco\threadpool.h -> mujoco-3.3.7\mujoco
  copying mujoco\viewer.py -> mujoco-3.3.7\mujoco
  copying mujoco\viewer_test.py -> mujoco-3.3.7\mujoco
  copying mujoco.egg-info\PKG-INFO -> mujoco-3.3.7\mujoco.egg-info
  copying mujoco.egg-info\SOURCES.txt -> mujoco-3.3.7\mujoco.egg-info
  copying mujoco.egg-info\dependency_links.txt -> mujoco-3.3.7\mujoco.egg-info
  copying mujoco.egg-info\requires.txt -> mujoco-3.3.7\mujoco.egg-info
  copying mujoco.egg-info\top_level.txt -> mujoco-3.3.7\mujoco.egg-info
  copying mujoco\cgl_init_.py -> mujoco-3.3.7\mujoco\cgl
  copying mujoco\cgl\cgl.py -> mujoco-3.3.7\mujoco\cgl
  copying mujoco\egl_init_.py -> mujoco-3.3.7\mujoco\egl
  copying mujoco\egl\egl_ext.py -> mujoco-3.3.7\mujoco\egl
  copying mujoco\glfw_init_.py -> mujoco-3.3.7\mujoco\glfw
  copying mujoco\introspect_init_.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\ast_nodes.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\ast_nodes_test.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\enums.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\enums_test.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\functions.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\functions_test.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\mjxmacro.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\structs.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\structs_test.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\type_parsing.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\type_parsing_test.py -> mujoco-3.3.7\mujoco\introspect
  copying mujoco\introspect\codegen\formatter.py -> mujoco-3.3.7\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\generate_enums.py -> mujoco-3.3.7\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\generate_functions.py -> mujoco-3.3.7\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\generate_structs.py -> mujoco-3.3.7\mujoco\introspect\codegen
  copying mujoco\mjpython\Info.plist -> mujoco-3.3.7\mujoco\mjpython
  copying mujoco\mjpython\mjpython.icns -> mujoco-3.3.7\mujoco\mjpython
  copying mujoco\mjpython\mjpython.mm -> mujoco-3.3.7\mujoco\mjpython
  copying mujoco\mjpython\mjpython.py -> mujoco-3.3.7\mujoco\mjpython
  copying mujoco\osmesa_init_.py -> mujoco-3.3.7\mujoco\osmesa
  copying mujoco\testdata\abdomen_1_body.msh -> mujoco-3.3.7\mujoco\testdata
  copying mujoco\testdata\model.xml -> mujoco-3.3.7\mujoco\testdata
  copying mujoco\testdata\msh.xml -> mujoco-3.3.7\mujoco\testdata
  copying mujoco\testdata\simple_usd_preview_surface.usda -> mujoco-3.3.7\mujoco\testdata
  copying mujoco\testdata\usd_golden.usda -> mujoco-3.3.7\mujoco\testdata
  copying mujoco\usd\camera.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\demo.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\exporter.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\exporter_test.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\lights.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\objects.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\shapes.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\usd\utils.py -> mujoco-3.3.7\mujoco\usd
  copying mujoco\util\CMakeLists.txt -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\array_traits.h -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\array_traits_test.cc -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\crossplatform.h -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\func_traits.h -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\func_traits_test.cc -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\func_wrap.h -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\func_wrap_test.cc -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\tuple_tools.h -> mujoco-3.3.7\mujoco\util
  copying mujoco\util\tuple_tools_test.cc -> mujoco-3.3.7\mujoco\util
  copying mujoco.egg-info\SOURCES.txt -> mujoco-3.3.7\mujoco.egg-info
  Writing mujoco-3.3.7\setup.cfg
  Creating tar archive
  removing 'mujoco-3.3.7' (and everything under it)
• Building wheel from sdist
• Creating isolated environment: venv+pip...
• Installing packages in isolated environment:
  • setuptools
• Getting build dependencies for wheel...
  running egg_info
  writing mujoco.egg-info\PKG-INFO
  writing dependency_links to mujoco.egg-info\dependency_links.txt
  writing requirements to mujoco.egg-info\requires.txt
  writing top-level names to mujoco.egg-info\top_level.txt
  reading manifest file 'mujoco.egg-info\SOURCES.txt'
  reading manifest template 'MANIFEST.in'
  warning: no files found matching 'LICENSE'
  warning: no files found matching '.cc.inc' under directory 'mujoco'
  warning: no files found matching '.cmake' under directory 'mujoco'
  writing manifest file 'mujoco.egg-info\SOURCES.txt'
• Building wheel...
  running bdist_wheel
  running build
  running build_py
  creating build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\bindings_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\gl_context.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\memory_leak_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\minimize.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\minimize_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\msh2obj.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\msh2obj_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\renderer.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\renderer_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\render_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\rollout.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\rollout_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\specs_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\viewer.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco\viewer_test.py -> build\lib.win-arm64-cpython-312\mujoco
  copying mujoco_init_.py -> build\lib.win-arm64-cpython-312\mujoco
  creating build\lib.win-arm64-cpython-312\mujoco\cgl
  copying mujoco\cgl\cgl.py -> build\lib.win-arm64-cpython-312\mujoco\cgl
  copying mujoco\cgl_init_.py -> build\lib.win-arm64-cpython-312\mujoco\cgl
  creating build\lib.win-arm64-cpython-312\mujoco\egl
  copying mujoco\egl\egl_ext.py -> build\lib.win-arm64-cpython-312\mujoco\egl
  copying mujoco\egl_init_.py -> build\lib.win-arm64-cpython-312\mujoco\egl
  creating build\lib.win-arm64-cpython-312\mujoco\glfw
  copying mujoco\glfw_init_.py -> build\lib.win-arm64-cpython-312\mujoco\glfw
  creating build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\ast_nodes.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\ast_nodes_test.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\enums.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\enums_test.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\functions.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\functions_test.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\mjxmacro.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\structs.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\structs_test.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\type_parsing.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect\type_parsing_test.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  copying mujoco\introspect_init_.py -> build\lib.win-arm64-cpython-312\mujoco\introspect
  creating build\lib.win-arm64-cpython-312\mujoco\osmesa
  copying mujoco\osmesa_init_.py -> build\lib.win-arm64-cpython-312\mujoco\osmesa
  creating build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\camera.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\demo.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\exporter.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\exporter_test.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\lights.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\objects.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\shapes.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  copying mujoco\usd\utils.py -> build\lib.win-arm64-cpython-312\mujoco\usd
  creating build\lib.win-arm64-cpython-312\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\formatter.py -> build\lib.win-arm64-cpython-312\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\generate_enums.py -> build\lib.win-arm64-cpython-312\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\generate_functions.py -> build\lib.win-arm64-cpython-312\mujoco\introspect\codegen
  copying mujoco\introspect\codegen\generate_structs.py -> build\lib.win-arm64-cpython-312\mujoco\introspect\codegen
  creating build\lib.win-arm64-cpython-312\mujoco\testdata
  copying mujoco\testdata\model.xml -> build\lib.win-arm64-cpython-312\mujoco\testdata
  copying mujoco\testdata\msh.xml -> build\lib.win-arm64-cpython-312\mujoco\testdata
  copying mujoco\testdata\abdomen_1_body.msh -> build\lib.win-arm64-cpython-312\mujoco\testdata
  copying mujoco\testdata\simple_usd_preview_surface.usda -> build\lib.win-arm64-cpython-312\mujoco\testdata
  copying mujoco\testdata\usd_golden.usda -> build\lib.win-arm64-cpython-312\mujoco\testdata
  running build_ext
  Traceback (most recent call last):
  File "C:\Users\taeso\AppData\Local\Programs\Python\Python312-arm64\Lib\site-packages\pyproject_hooks_in_process_in_process.py", line 389, in
  main()
  File "C:\Users\taeso\AppData\Local\Programs\Python\Python312-arm64\Lib\site-packages\pyproject_hooks_in_process_in_process.py", line 373, in main
  json_out["return_val"] = hook(**hook_input["kwargs"])
  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\taeso\AppData\Local\Programs\Python\Python312-arm64\Lib\site-packages\pyproject_hooks_in_process_in_process.py", line 280, in build_wheel
  return _build_backend().build_wheel(
  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\build_meta.py", line 432, in build_wheel
  return _build(['bdist_wheel'])
  ^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\build_meta.py", line 423, in _build
  return self._build_with_temp_dir(
  ^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\build_meta.py", line 404, in build_with_temp_dir
  self.run_setup()
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\build_meta.py", line 317, in run_setup
  exec(code, locals())
  File "", line 357, in
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_init.py", line 115, in setup
  return distutils.core.setup(**attrs)
  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\core.py", line 186, in setup
  return run_commands(dist)
  ^^^^^^^^^^^^^^^^^^
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\core.py", line 202, in run_commands
  dist.run_commands()
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\dist.py", line 1002, in run_commands
  self.run_command(cmd)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\dist.py", line 1102, in run_command
  super().run_command(command)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\dist.py", line 1021, in run_command
  cmd_obj.run()
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\command\bdist_wheel.py", line 370, in run
  self.run_command("build")
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\cmd.py", line 357, in run_command
  self.distribution.run_command(command)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\dist.py", line 1102, in run_command
  super().run_command(command)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\dist.py", line 1021, in run_command
  cmd_obj.run()
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\command\build.py", line 135, in run
  self.run_command(cmd_name)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\cmd.py", line 357, in run_command
  self.distribution.run_command(command)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools\dist.py", line 1102, in run_command
  super().run_command(command)
  File "C:\Users\taeso\AppData\Local\Temp\build-env-7th1ayax\Lib\site-packages\setuptools_distutils\dist.py", line 1021, in run_command
  cmd_obj.run()
  File "", line 154, in run
  File "", line 190, in _find_mujoco
  RuntimeError: Cannot find MuJoCo library and/or include paths

ERROR Backend subprocess exited when trying to invoke build_wheel`

My setup

msvc, windows11 arm64

My question

I’d appreciate even a simple hint on how to resolve this build issue.

Minimal model and/or code that explain my question

Not relevant.

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[traversaro]

You may want to add some debug prints in https://github.com/google-deepmind/mujoco/blob/9f796c3e7051b9cba194ae5e4884987c711ba656/python/setup.py#L188C1-L190C74 to understand if the headers or the library is the one that is not found.

[taesoobear]

Thanks to your advice, the build has progressed further. The current version of the build script is shown below, but it fails due to two linking errors shown below. (I also created python/mujoco/cmake and python/mujoco/simulate by copying files.) Do you have any suggestions? The error seems to be related to mujoco.viewer. Is there an easy way to turn off the building of the viewer? I only need the simulator.
`
pip install -r make_sdist_requirements.txt
set MUJOCO_PATH=C:\Users\taeso\mujoco\built
set MUJOCO_PLUGIN_PATH=C:\Users\taeso\mujoco\built\bin\mujoco_plugin

cd mujoco
python -m codegen.generate_enum_traits > enum_traits.h
python -m codegen.generate_function_traits > function_traits.h
python -m codegen.generate_spec_bindings > specs.cc.inc

cd ..
python -m build
Error messages:
Creating library C:/Users/taeso/AppData/Local/Temp/build-via-sdist-s52pydpz/mujoco-3.3.7/build/temp.win-arm64-cpython-312/Release/Release/_structs.lib
and object C:/Users/taeso/AppData/Local/Temp/build-via-sdist-s52pydpz/mujoco-3.3.7/build/temp.win-arm64-cpython-312/Release/Release/_structs.exp.

structs.obj : error LNK2001: unresolved external symbol
"public: cdecl mujoco::python::impl::MjWrapper<struct mjVisual:: >::MjWrapper<struct mjVisual:: >(class mujoco::python::impl::MjWrapper<struct mjVisual:: > const &)"
(??0?$MjWrapper@U@mjVisual@@@_impl@python@mujoco@@qeaa@AEBV0123@@z)
[C:\Users\taeso\AppData\Local\Temp\build-via-sdist-s52pydpz\mujoco-3.3.7\build\temp.win-arm64-cpython-312\Release_structs.vcxproj]

structs.obj : error LNK2001: unresolved external symbol
"public: cdecl mujoco::python::impl::MjWrapper<struct mjVisual:: >::MjWrapper<struct mjVisual:: >(class mujoco::python::impl::MjWrapper<struct mjVisual:: > const &)"
(??0?$MjWrapper@U@mjVisual@@@_impl@python@mujoco@@qeaa@AEBV0123@@z)
[C:\Users\taeso\AppData\Local\Temp\build-via-sdist-s52pydpz\mujoco-3.3.7\build\temp.win-arm64-cpython-312\Release_structs.vcxproj]

C:\Users\taeso\AppData\Local\Temp\build-via-sdist-s52pydpz\mujoco-3.3.7\build\temp.win-arm64-cpython-312\Release\Release_structs.cp312-win_arm64.pyd : fatal error LNK1120: 2 unresolved external references.
[C:\Users\taeso\AppData\Local\Temp\build-via-sdist-s52pydpz\mujoco-3.3.7\build\temp.win-arm64-cpython-312\Release_structs.vcxproj]

Code generation completed.
`

[taesoobear]

Just in case anyone tries to build MuJoCo for Windows ARM64 — I successfully built a minimal mujoco.whl package for this platform as follows. I used the batch file shown above. During the process, I had to comment out all occurrences of "headlight" and "rgba" related to mjVisual in specs* and structs* files. Despite these changes, MuJoCo works perfectly as long as you don't use those tags in mjcf files. The mujoco.viewer module doesn’t work for unknown reasons, but since I use my own renderer, that wasn’t an issue for me.