Introduction to mujoco

set environment

echo "export PATH=$PATH:/Users/chenxiangyun05/MuJoCoBin/mujoco-3.3.0/bin" >> ~/.bashrc

source ~/.bashrc

既然你是 Bash，那么环境变量就应该写入 ~/.bash_profile（注意：不是 ~/.bashrc！）

💡 macOS 上 Bash 的加载规则很特殊：

登录式 shell（比如你打开 Terminal.app）会读取 ~/.bash_profile
不会自动读取 ~/.bashrc
而 Linux 上的 Bash 通常读 ~/.bashrc
所以你之前写入 ~/.bashrc 是无效的！

注意：这里写入的是 ~/.zshrc，不是 ~/.bashrc！

echo 'export PATH="$PATH:/Users/chenxiangyun05/MuJoCoBin/mujoco-3.3.0/bin"' >> ~/.zshrc

source ~/.zshrc

方法 1：查看当前 Shell 进程
Bash
编辑
echo $0
如果输出是 -zsh 或 /bin/zsh → 你正在用 Zsh
如果输出是 -bash 或 /bin/bash → 你正在用 Bash

view model

simulate ~/MuJoCoBin/mujoco-3.3.0/model/humanoid/humanoid.xml

record

record ~/MuJoCoBin/mujoco-3.3.0/model/humanoid/humanoid.xml 5 60 rgb.out

save to mp4

ffmpeg -f rawvideo -pixel_format rgb24 -video_size 2560x1440 \
-framerate 60 -i rgb.out -vf "vflip,format=yuv420p" video.mp4

reference:

• https://blog.csdn.net/nenchoumi3119/article/details/148085428
• https://news.qq.com/rain/a/20250605A01TIV00
• https://docs.mujoco.cn/en/stable/overview.html

g++ 编译

g++ ~/c++/test.cpp \
-F /Users/chenxiangyun05/.mujoco \
-I /Users/chenxiangyun05/.mujoco/mujoco.framework/Headers \
-std=c++17 \
-Wl,-rpath,/Users/chenxiangyun05/.mujoco/mujoco.framework/Versions/A \
/Users/chenxiangyun05/.mujoco/mujoco.framework/Versions/A/mujoco \
-o ~/c++/test

---

g++ ~/c++/stimulate_ball.cpp \
-F /Users/chenxiangyun05/.mujoco \
-I /Users/chenxiangyun05/.mujoco/mujoco.framework/Headers \
-std=c++17 \
-Wl,-rpath,/Users/chenxiangyun05/.mujoco/mujoco.framework/Versions/A \
/Users/chenxiangyun05/.mujoco/mujoco.framework/Versions/A/mujoco \
-o ~/c++/stimulate_ball