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Minimal Mujoco CMake build example

Minimal Mujoco CMake build example with GLFW3

This is a minimal example of how to build a Mujoco application with CMake and GLFW3, i.e. with graphical interface.

cmake_minimum_required(VERSION 3.10)
project(mujocotest)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(PkgConfig REQUIRED)
pkg_search_module(MUJOCO mujoco)
pkg_search_module(GLFW REQUIRED glfw3)

if(NOT MUJOCO_FOUND)
	set(MUJOCO_INCLUDE_DIRS /opt/mujoco/include)
	set(MUJOCO_LIBRARIES /opt/mujoco/lib/libmujoco.so)
endif()

add_executable(mujocotest main.cpp)
target_include_directories(mujocotest PRIVATE ${MUJOCO_INCLUDE_DIRS} ${GLFW_INCLUDE_DIRS})
target_link_libraries(mujocotest PRIVATE ${MUJOCO_LIBRARIES} ${GLFW_LIBRARIES})

Minimal Mujoco CMake build example without GLFW3

This is useful if you want to build a Mujoco application without graphical interface, e.g. for running on a server.

cmake_minimum_required(VERSION 3.10)
project(mujocotest)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(PkgConfig REQUIRED)
pkg_search_module(MUJOCO mujoco)
if(NOT MUJOCO_FOUND)
  set(MUJOCO_INCLUDE_DIRS /opt/mujoco/include)
  set(MUJOCO_LIBRARIES /opt/mujoco/lib/libmujoco.so)
endif()

add_executable(mujocotest main.cpp)
target_include_directories(mujocotest PRIVATE ${MUJOCO_INCLUDE_DIRS})
target_link_libraries(mujocotest PRIVATE ${MUJOCO_LIBRARIES})