C++ Makefile/CMakeLists.txt

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