How to use Mujoco in CMake project?

Question

I have installed Mujoco into /opt/mujoco.

When I built a project that depends on Mujoco, I made the following changes in the CMakeList.txt:

set(MUJOCO_FOLDER /opt/mujoco/lib/cmake)
find_package(mujoco 2.3.7 REQUIRED PATHS ${MUJOCO_FOLDER} NO_DEFAULT_PATH)
if (mujoco_FOUND)
    message(STATUS "Find mujoco:  ${mujoco_INCLUDE_DIRS}, ${mujoco_LIBRARIES}")
endif()

Mujoco can be found and the message is also printed in the terminal, but variables ${mujoco_INCLUDE_DIRS} and ${mujoco_LIBRARIES} are empty.

I have removed the build folder and rerun the cmake command many times, but the above vars are still empty.

Besides, I checked the CMakeCache.txt following this link, and MUJOCO_DIR:PATH correctly points to the desired path.

What's wrong with it?

Answer 1

Mujoco generates a config file package, not a find-module package.

As such, it won't set any variables as part of the find_package call but instead provide an imported target for your executable to depend on:

set(MUJOCO_FOLDER /opt/mujoco/lib/cmake)
find_package(mujoco 2.3.7 REQUIRED PATHS ${MUJOCO_FOLDER} NO_DEFAULT_PATH)

add_executable(my_app)
# ...
target_link_libraries(my_app PUBLIC mujoco::mujoco)