- 克隆项目
git clone https://github.com/google-deepmind/mujoco.git - 编译（建议开启魔法）
cd mujoco
mkdir build
cd build
cmake ..
cmake --build . 多线程编译使用 cmake --build . -j线程数
- 选择安装位置（推荐/opt）
cmake -DCMAKE_INSTALL_PREFIX=/opt/mujoco . sudo cmake --install .
替换CMakeLists.txt中寻找mujoco部分
set(MUJOCO_PATH "your mujoco path")
include_directories(${MUJOCO_PATH}/include)
link_directories(${MUJOCO_PATH}/build/bin)
set(MUJOCO_LIB ${MUJOCO_PATH}/build/lib/libmujoco.so)链接库部分中 ${MUJOCO_LIB}
target_link_libraries(your_app ${MUJOCO_LIB} glut GL GLU glfw)
下载
wget https://download.pytorch.org/libtorch/cpu/libtorch-shared-with-deps-2.8.0%2Bcpu.zip
解压后在~/.bashrc中配置路径
export Torch_DIR=/your_path/libtorch
source ~/.bashrc
sudo apt-get install parcellite
sudo apt-get install libudev-dev
sudo apt-get install joystick
cd mujoco/C++
mkdir build
cd build
cmake ..
make
./demo