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Update integration with external mujoco library #2
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README.md
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cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local | ||
cmake --build . | ||
sudo cmake --install . | ||
sudo mkdir -p /opt/mujoco-3.2.6-linux-x86_64/ |
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I am installing to /opt
which on Linux is a convention for manually installed packages
@edwardalee thanks for the feedback. I reverted to installing from source for both macOS and Ubuntu, but I install the library to |
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This installation procedure almost worked for me. Installation of MuJoCo succeeds, and compilation of src/MuJoCoBasicDemo succeeded, but running it fails:
$ bin/MuJoCoBasicDemo
dyld[79731]: Library not loaded: '@rpath/libmujoco.3.2.6.dylib'
Referenced from: '/Users/eal/git/mujoco-c/bin/MuJoCoBasicDemo'
Reason: tried: '/usr/local/lib/libmujoco.3.2.6.dylib' (no such file), '/usr/lib/libmujoco.3.2.6.dylib' (no such file)
Abort trap: 6
I think that /opt is not a place macOS will typically look. How do you get it to look there?
The following worked for me:
export DYLD_LIBRARY_PATH=/opt/mujoco/lib/:$DYLD_LIBRARY_PATH
I guess this needs to be put into a .bash_profile or .zprofile.
I tried the instructions but mujoco failed to compile (Arch Linux):
|
Did you try master of lingua-franca? I just merged a PR which should address this and where we don't need to set any environment variable |
Hm, we can compromise and build from source in the case of macOS and use prebuilt binaries for Linux. Can you instead try the new updated docs for Linux? |
Co-authored-by: Edward A. Lee <[email protected]>
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LGTM!
I was struggling a bit to get it to compile and run on my Ubuntu24.04. It prompted some reading of Mujoco and CMake documentation. The Mujoco people recommend using their prebuilt binaries so I went with this, I have not tested it for macOS so I was hoping that you, Edward, could verify that it works.
For Ubuntu, this depends on merging lf-lang/lingua-franca#2454