cannot find -lmujoco: No such file or directory

[sangregoriokimpo]

glfw and lodepng issue are fixed. However, there is a new issue building the C++ simulator.

/usr/bin/ld: skipping incompatible /home/sgq/unitree_mujoco/simulate/mujoco/lib/libmujoco.so when searching for -lmujoco
/usr/bin/ld: cannot find -lmujoco: No such file or directory
/usr/bin/ld: skipping incompatible /home/sgq/unitree_mujoco/simulate/mujoco/lib/libmujoco.so when searching for -lmujoco
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:196: unitree_mujoco] Error 1
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/unitree_mujoco.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

I've been using ubuntu 22.04, ROS2 humble, Mujoco 3.3.6

[wangyan-hlab]

1. Build mujoco-3.3.6 from source
Follow this installation method (Step 5 and 7 no need):
https://mujoco.readthedocs.io/en/latest/programming/#building-from-source

2. Edit LD_LIBRARY_PATH
After build, the libmujoco is in /usr/local/lib, execute:

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

3. Build unitree_mujoco following the latest installation method
Might be some dependencies issues, just install them if not found.
There is still a bug with the lodepng, and I simply comment the relative code in simulate.cc.

Now the build of unitree_mujoco is successful.

[Agnel-Wang]

@sangregoriokimpo Hi , have u fixed it #97

[Raviteja-T]

Installation Steps

1. Install System Dependencies
   bash
   sudo apt update
   sudo apt install -y
   libyaml-cpp-dev
   libspdlog-dev
   libboost-all-dev
   libglfw3-dev
   libgl1-mesa-dev
   libglew-dev
   libosmesa6-dev
   libxi-dev
   build-essential
   cmake
   git
   wget
   unzip
2. Install MuJoCo
   Download MuJoCo
   bash

Create mujoco directory

mkdir -p ~/.mujoco
cd ~/.mujoco

Download MuJoCo 3.3.6 (check https://github.com/google-deepmind/mujoco/releases for latest version)

wget https://github.com/google-deepmind/mujoco/releases/download/3.3.6/mujoco-3.3.6-linux-x86_64.tar.gz

Extract

tar -xzf mujoco-3.3.6-linux-x86_64.tar.gz
mv mujoco-3.3.6 mujoco

Set environment variables

echo 'export MUJOCO_PY_MUJOCO_PATH=~/.mujoco/mujoco' >> /.bashrc
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/.mujoco/mujoco/bin' >> ~/.bashrc
source ~/.bashrc
3. Install unitree_sdk2
bash

Clone and install unitree_sdk2

sudo mkdir -p /opt/unitree_robotics
sudo chown $USER:$USER /opt/unitree_robotics

git clone https://github.com/unitreerobotics/unitree_sdk2.git
cd unitree_sdk2
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree_robotics
make -j$(nproc)
sudo make install

Set environment variable

echo 'export UNITREE_SDK2_PATH=/opt/unitree_robotics' >> ~/.bashrc
source ~/.bashrc
4. Clone and Build unitree_mujoco
bash

Clone the repository

git clone https://github.com/unitreerobotics/unitree_mujoco.git
cd unitree_mujoco

Create symbolic link to mujoco

cd simulate
ln -s ~/.mujoco/mujoco mujoco

Build the C++ simulator

mkdir build && cd build
cmake ..
make -j$(nproc) try this @wangyan-hlab @Agnel-Wang @sangregoriokimpo

[chenlockyer]

mkdir -p ~/.mujoco
cd ~/.mujoco
wget https://github.com/google-deepmind/mujoco/releases/download/3.3.6/mujoco-3.3.6-linux-x86_64.tar.gz
tar -xzf mujoco-3.3.6-linux-x86_64.tar.gz

cd unitree_mujoco/simulate/
ln -s ~/.mujoco/mujoco-3.3.6 mujoco
then follow official README.md