Build-from-source docs: missing Wayland dependencies on Ubuntu 24.04 (wayland-scanner)

[Jay2006sawant]

Intro

Hi!

I am Jay, an undergraduate student, and I am setting up MuJoCo locally in order to contribute to the project and learn more about physics-based simulation and robotics.

My setup

• MuJoCo version: 3.4.1 (built from source)
• API: C/C++ (viewer + core)
• Architecture: x86_64
• OS: Ubuntu 24.04 (WSL2 on Windows 11)
• Display system: Wayland (WSLg)

My question

Hi!

I am Jay, an undergraduate student, and I am setting up MuJoCo locally in order to contribute to the project.

While building MuJoCo from source on Ubuntu 24.04 (Wayland-based systems, also reproducible on WSL2 with GUI support), the build fails during GLFW configuration with the following error:

CMake Error at build/_deps/glfw3-src/src/CMakeLists.txt:
  Failed to find wayland-scanner

After investigating, the root cause appears to be that wayland-scanner is required for Wayland support but is not installed by default on Ubuntu 24.04.
Additionally, the binary is not provided by a package named wayland-scanner, but instead comes from the package:
libwayland-bin
Installing the following packages resolves the issue and allows the build to complete successfully:

sudo apt install libwayland-dev libwayland-bin wayland-protocols libxkbcommon-dev

I did not see this dependency mentioned in the build-from-source documentation, so I wanted to ask whether adding a short note about Wayland dependencies for Ubuntu 22.04+ would be welcome.
I’m happy to open a documentation PR if this makes sense.

Minimal model and/or code that explain my question

Not applicable — this is a build-from-source documentation question, not a runtime or MJCF issue.

Confirmations

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

[juanmed]

Same for libxinerama-dev libxcursor-dev libxi-dev

System is 6.14.0-37-generic #37~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Nov 20 10:25:38 UTC 2 x86_64 x86_64 x86_64 GNU/Linux