unitree_mujoco编译遇到的问题及解决

安装mujoco 

方法一：git clone源代码编译 

sudo apt install libglfw3-dev libxinerama-dev libxcursor-dev libxi-dev 

git clone https://github.com/google-deepmind/mujoco.git 

mkdir build && cd build 

cmake .. 

make -j4 

sudo make install 

方法二：加载release 版本 重点！！因为是下载的release版本，所以没有mujoco_config 

若mujoco不能直接源代码编译 

去https://github.com/google-deepmind/mujoco/releases下载指定的版本 

命令：git clone https://github.com/google-deepmind/mujoco/releases 

将下载的目录解压到指定目录下  ~/.mujoco，记住将下面命令的压缩包替换成自己的版本 

命令： mkdir ~/.mujoco 

tar -zxvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco 

会出现的问题： 

  Add the installation prefix of "mujoco" to CMAKE_PREFIX_PATH or set "mujoco_DIR" to a directory containing one of the above files. If "mujoco" provides a separate development package or SDK, be sure it has been installed. 

解决办法 

将bin路径添加到LD_LIBRARY_PATH 

将解压之后的路径添加到 .bashrc文件 

命令：gedit ~/.bashrc  

在最后一行添加 

命令：export MUJOCO_PATH=/home/liu/.mujoco/mujoco-3.1.4 

export LD_LIBRARY_PATH=$MUJOCO_PATH/bin:$LD_LIBRARY_PATH 

在unitree_mujoco或者你要编译的项目的cmakelists.txt修改，增加以下内容 

# 设置自定义 CMake 模块路径 

list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake_modules") 
 

# 设置 MuJoCo 的路径 

set(MUJOCO_PATH "/home/liu/.mujoco/mujoco-3.1.4") 
 

# 包含 MuJoCo 的头文件路径 

include_directories(${MUJOCO_PATH}/include) 
 

# 链接 MuJoCo 的库文件路径 

link_directories(${MUJOCO_PATH}/lib) 

# 手动指定链接的库，注意放在哪， 

target_link_libraries(unitree_mujoco ${SIM_DEPENDENCIES} ${MUJOCO_PATH}/lib/libmujoco.so) 

删除 find_package(MuJoCo REQUIRED) 及相关引用 

如果你没有 MuJoCo 的 CMake 配置文件，删除 find_package(MuJoCo REQUIRED) 和引用 mujoco::mujoco 的部分，而是手动设置 MuJoCo 的路径。 

在simulate文件夹下新建cmake_modules文件夹，建一个 FindMuJoCo.cmake文件 

# FindMuJoCo.cmake 

 
 

# 手动设置 MuJoCo 包含路径和库路径 

find_path(MUJOCO_INCLUDE_DIR mujoco.h  

PATHS  

/home/liu/.mujoco/mujoco-3.1.4/include/mujoco 

) 

 
 

find_library(MUJOCO_LIBRARY mujoco  

PATHS  

/home/liu/.mujoco/mujoco-3.1.4/lib 

) 

 
 

# 检查是否找到路径 

if (MUJOCO_INCLUDE_DIR AND MUJOCO_LIBRARY) 

set(MUJOCO_FOUND TRUE) 

set(MUJOCO_LIBRARIES ${MUJOCO_LIBRARY}) 

set(MUJOCO_INCLUDE_DIRS ${MUJOCO_INCLUDE_DIR}) 

else() 

set(MUJOCO_FOUND FALSE) 

endif() 

 
 

mark_as_advanced(MUJOCO_INCLUDE_DIR MUJOCO_LIBRARY) 

Test 

Simulate #正确弹出即可 

编译unitree_mujoco时出现，cannot find -lddsc&ddscxx #19 

#查找libddscxx.so 

locate libddscxx.so 

#将libddscxx.so的位置链接到/usr/local/lib/libddscxx.so 

sudo ln -s /home/liu/unitree_sdk2-main/thirdparty/lib/x86_64/libddscxx.so /usr/local/lib/libddscxx.so 

locate libddsc.so 

sudo ln -s /home/liu/unitree_sdk2-main/thirdparty/lib/x86_64/libddsc.so /usr/local/lib/libddsc.so