compile problems

[XX-4869]

xx@pc:~/unitree_mujoco/simulate/build$ make -j4
[ 23%] Built target jstest
[ 46%] Building CXX object CMakeFiles/unitree_mujoco.dir/src/mujoco/simulate.cc.o
[ 46%] Built target test
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc: In function ‘void {anonymous}::MakePhysicsSection(mujoco::Simulate*, int)’:
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:748:48: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’?
748 | {mjITEM_EDITINT, "MPR Iter", 2, &(opt->mpr_iterations), "1 0 1000"},
| ^~~~~~~~~~~~~~
| ls_iterations
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:749:47: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’?
749 | {mjITEM_EDITNUM, "MPR Tol", 2, &(opt->mpr_tolerance), "1 0 1"},
| ^~~~~~~~~~~~~
| ls_tolerance
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc: In member function ‘void mujoco::Simulate::Sync()’:
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’?
2111 | X(mpr_tolerance);
| ^~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:39: note: in definition of macro ‘X’
2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name))
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’?
2111 | X(mpr_tolerance);
| ^~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:57: note: in definition of macro ‘X’
2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name))
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’?
2111 | X(mpr_tolerance);
| ^~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:18: note: in definition of macro ‘X’
2103 | Copy(m_->opt.name, scnstate_.model.opt.name);
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’?
2111 | X(mpr_tolerance);
| ^~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:44: note: in definition of macro ‘X’
2103 | Copy(m_->opt.name, scnstate_.model.opt.name);
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’?
2127 | X(mpr_iterations);
| ^~~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:39: note: in definition of macro ‘X’
2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name))
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’?
2127 | X(mpr_iterations);
| ^~~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:57: note: in definition of macro ‘X’
2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name))
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’?
2127 | X(mpr_iterations);
| ^~~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:18: note: in definition of macro ‘X’
2103 | Copy(m_->opt.name, scnstate_.model.opt.name);
| ^~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’?
2127 | X(mpr_iterations);
| ^~~~~~~~~~~~~~
/home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:44: note: in definition of macro ‘X’
2103 | Copy(m_->opt.name, scnstate_.model.opt.name);
| ^~~~
make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:115：CMakeFiles/unitree_mujoco.dir/src/mujoco/simulate.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:134：CMakeFiles/unitree_mujoco.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

[XX-4869]

I change mpr_iterations and mpr_tolerance to ls_iterations and ls_tolerance, and then there's no problem, there's an error when I run ./unitree_mujoco

xx@pc:~/unitree_mujoco/simulate/build$ ./unitree_mujoco
MuJoCo version 3.2.6
Mujoco data is prepared
logConfigFileName:/home/xx/unitree_mujoco/simulate/build/default_logconf.json
1732678157.480751 [1] unitree_mu: selected interface "lo" is not multicast-capable: disabling multicast
Error: Joystick open failed.
段错误 (核心已转储)

[Hotsburp]

See issue#11 here. Basically, set use_joystick as 0 in the unitree_mujoco/simulate/config.yaml instead of 1. Hope it helps.

[jinsongyu-fb]

This is because mujoco renamed some fields. The solution is to pull tag 3.2.0 from mujoco and then build from source:

git clone https://github.com/google-deepmind/mujoco.git
cd mujoco
git checkout tags/3.2.0
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=~/local/mujoco-3.2.0
make -j32
make install

Then in this repro, unitree_mujoco/simulate/CMakeList.txt, add list(APPEND CMAKE_PREFIX_PATH "~/local/mujoco-3.2.0") before running cmake

[wuyangning]

xx@pc:~/unitree_mujoco/simulate/build$ make -j4 [ 23%] Built target jstest [ 46%] Building CXX object CMakeFiles/unitree_mujoco.dir/src/mujoco/simulate.cc.o [ 46%] Built target test /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc: In function ‘void {anonymous}::MakePhysicsSection(mujoco::Simulate*, int)’: /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:748:48: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’? 748 | {mjITEM_EDITINT, "MPR Iter", 2, &(opt->mpr_iterations), "1 0 1000"}, | ^~~~~~~~~~~~~~ | ls_iterations /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:749:47: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’? 749 | {mjITEM_EDITNUM, "MPR Tol", 2, &(opt->mpr_tolerance), "1 0 1"}, | ^~~~~~~~~~~~~ | ls_tolerance /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc: In member function ‘void mujoco::Simulate::Sync()’: /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’? 2111 | X(mpr_tolerance); | ^~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:39: note: in definition of macro ‘X’ 2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’? 2111 | X(mpr_tolerance); | ^~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:57: note: in definition of macro ‘X’ 2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’? 2111 | X(mpr_tolerance); | ^~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:18: note: in definition of macro ‘X’ 2103 | Copy(m_->opt.name, scnstate_.model.opt.name); | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2111:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_tolerance’; did you mean ‘ls_tolerance’? 2111 | X(mpr_tolerance); | ^~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:44: note: in definition of macro ‘X’ 2103 | Copy(m_->opt.name, scnstate_.model.opt.name); | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’? 2127 | X(mpr_iterations); | ^~~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:39: note: in definition of macro ‘X’ 2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’? 2127 | X(mpr_iterations); | ^~~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2100:57: note: in definition of macro ‘X’ 2100 | if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’? 2127 | X(mpr_iterations); | ^~~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:18: note: in definition of macro ‘X’ 2103 | Copy(m_->opt.name, scnstate_.model.opt.name); | ^~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2127:9: error: ‘mjOption’ {aka ‘struct mjOption_’} has no member named ‘mpr_iterations’; did you mean ‘ls_iterations’? 2127 | X(mpr_iterations); | ^~~~~~~~~~~~~~ /home/xx/unitree_mujoco/simulate/src/mujoco/simulate.cc:2103:44: note: in definition of macro ‘X’ 2103 | Copy(m_->opt.name, scnstate_.model.opt.name); | ^~~~ make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:115：CMakeFiles/unitree_mujoco.dir/src/mujoco/simulate.cc.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:134：CMakeFiles/unitree_mujoco.dir/all] 错误 2 make: *** [Makefile:84：all] 错误 2

We have modified the simulate program based on MuJoCo version 3.2.7 and fixed this problem. See: f5b7837