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