Building MuJoCo-rs

Compile the library using a pre-downloaded MuJoCo shared library in the repository.

1. Check Cargo.toml for the current MuJoCo version (look for +mj-X.Y.Z in the package version). Then find the matching mujoco-X.Y.Z/ directory at the repository root.

2. Build the library (replace X.Y.Z with the version found in step 1):

export MUJOCO_DYNAMIC_LINK_DIR=$(realpath mujoco-X.Y.Z/lib) && export LD_LIBRARY_PATH=$(realpath mujoco-X.Y.Z/lib/) && cargo build --lib

3. Verify that the exit code is 0 (success) - check the terminal output for errors.

[!NOTE]

• If .so files are not found, read build.rs and docs/guide/source/installation.rst to understand the linking options.
• Read Cargo.toml [features] section to discover available features.
• To build with specific features: cargo build --lib --no-default-features --features "feature1 feature2".
• To build in release mode add --release.
• MUJOCO_DYNAMIC_LINK_DIR must be an absolute path (hence realpath).