2024-04-29 15:02:43 +08:00
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cmake_minimum_required(VERSION 3.16)
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project(unitree_mujoco)
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enable_language(C)
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enable_language(CXX)
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set(CMAKE_CXX_STANDARD 17)
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2024-09-03 21:08:21 +08:00
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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2024-04-29 15:02:43 +08:00
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2024-09-03 21:08:21 +08:00
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list(APPEND CMAKE_PREFIX_PATH "/opt/unitree_robotics/lib/cmake")
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2024-04-29 15:02:43 +08:00
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find_package(mujoco REQUIRED)
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2024-09-03 21:08:21 +08:00
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find_package(unitree_sdk2 REQUIRED)
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2024-04-29 15:02:43 +08:00
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FILE (GLOB SIM_SRC
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2024-05-23 11:30:21 +08:00
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src/joystick/joystick.cc
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2024-04-29 15:02:43 +08:00
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src/mujoco/*.cc
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src/unitree_sdk2_bridge/*.cc)
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set(SIM_DEPENDENCIES
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pthread
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mujoco::mujoco
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glfw
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2024-09-03 21:08:21 +08:00
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yaml-cpp
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unitree_sdk2)
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2024-04-29 15:02:43 +08:00
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add_executable(unitree_mujoco ${SIM_SRC} src/main.cc)
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target_link_libraries(unitree_mujoco ${SIM_DEPENDENCIES})
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add_executable(test test/test_unitree_sdk2.cpp)
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2024-09-03 21:08:21 +08:00
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target_link_libraries(test unitree_sdk2)
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2024-05-23 11:30:21 +08:00
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add_executable(jstest src/joystick/jstest.cc src/joystick/joystick.cc)
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2024-04-29 15:02:43 +08:00
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SET(CMAKE_BUILD_TYPE Release)
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