Hi, I have MuJoco installed on Ubuntu computer under ~/.mujoco/mujoco200. I would like to start writing a C++ program to control MuJoco. I would like to write a Makefile/CMakeLists.txt file to compile my program. I cannot find an example of how to do it. I tried to write the following CMakeLists.txt file: cmake_minimum_required(VERSION 2.8.3) project(mujoco_demo) add_compile_options(-std=c++11) # CMake 2.8.12 or newer if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX ) add_definitions("-fno-strict-aliasing -Wall") endif( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX ) find_package(Boost ${OpenRAVE_Boost_VERSION} EXACT) find_package(ompl REQUIRED) find_package(Mujoco REQUIRED MODULE) include_directories(${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS}) link_directories(${Boost_LIBRARY_DIRS} ${OMPL_LIBRARY_DIRS}) add_executable(mujoco_demo basic.cpp) target_link_libraries(mujoco ${OMPL_LIBRARIES} -lboost_system INTERFACE Mujoco::Mujoco) install(TARGETS mujoco DESTINATION .) But I get the following error: No "FindMujoco.cmake" found in CMAKE_MODULE_PATH. So I guess I am doing something wrong. In general, I copied from your website the basic.cpp file and I placed in an arbitrary location (say ~/Desktop). I would like to write Makefile or CMakeLists.txt file to compile the basic.cpp (i.e set the dependencies such that I can compile a MuJoco program correctly). Thanks in advance.
I figure out that there is a Makefile available under the mjpro200 folder, however, I am still interested in a CMakeLists.txt file. Will be easy for someone to provide an intial starting point of having a CMakeLists.txt file for compiling MuJoCo C++ for the community?
This might get you started Code: set(USE_GL 1) #USE_GL==0 does not work for 131 version since there is no 'nogl' file set(BIN_NAME ${PROJECT_NAME}) link_directories(${CMAKE_SOURCE_DIR}/lib/200/) find_library(GLFW libglfw.so.3 HINTS lib/200/) message(STATUS "GLFW lib found at: " ${GLFW}) #Showing path to MuJoCo for checking message(STATUS "MuJoCo path: " ${CMAKE_SOURCE_DIR}/lib/200/) #Finding main mujoco library if(${USE_GL}) file(GLOB LIB_MUJOCO lib/200/libmujoco[0-9][0-9][0-9].so) else() file(GLOB LIB_MUJOCO lib/200/libmujoco[0-9][0-9][0-9]nogl.so) endif() #Showing mujoco library found message(STATUS "MuJoCo lib found at: " ${LIB_MUJOCO}) target_link_libraries(${PROJECT_NAME} ${LIB_MUJOCO} ${GLFW} libGL.so libglew.so) I placed all the mujoco libs in a directory called lib/200 Note: This is partially copied from a older forum thread I don't seem to be able to find anymore