MPR solver is removed from Mujoco, resulting c++ compiling failed

[Revindell]

Hi,

in the newest Mujoco release, the MPR solver is removed from mjOption (see link), which will result in an error when compiling the C++ library.

/unitree_mujoco/simulate/src/mujoco/simulate.cc: In function ‘void {anonymous}::MakePhysicsSection(mujoco::Simulate*, int)’: /home/deyu.fu/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

[toushei]

Try using the older version of Mujoco 3.2.1. It seems like the developers used this version specifically since otherwise it gives library/header version mismatches.

[KanonWY]

I made some modifications according to the error report, and it can run successfully. I hope it helps. maybe you can use Mujoco3.2.1 just like @toushei des. link

[ZMcc18]

The newly installed mujuco version should be 3.2.4, and the error is found to say that there is no such member under the mjOpetion_, you can find the mjOption_ class in mjmodel.h under /usr/local/include/mujuco, and found that the ccd_iterations has been added, and mpr has been deleted, maybe you can try to unitree_mujoco/simulate/src/ Where the mujoco/simulation.cc error is reported, change the corresponding MPR to ccd

[wuyangning]

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