BUG Building error, linking error with simulate

[Karag0]

Intro

I am using mujoco for my experiments

My setup

Arch linux x86_64. gcc 15.2.1 cmake 4.1.1.
Repo version origin/master

My question

I'm trying to compile mujoco from source, but it throws linking errors.
Steps to reproduce:

git clone https://github.com/google-deepmind/mujoco --depth=1 --recursive
cd mujoco
mkdir build
cd build
cmake .. 
cmake --build . 

log:
🚀 vlad …/mujoco/build   main   14:59  ❯ cmake ..
-- The C compiler identification is GNU 15.2.1
-- The CXX compiler identification is GNU 15.2.1
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Setting build type to 'Release' as none was specified.
-- Performing Test CAN_BUILD_AVX
-- Performing Test CAN_BUILD_AVX - Success
-- Performing Test SUPPORTS_LLD
-- Performing Test SUPPORTS_LLD - Success
-- Performing Test SUPPORTS_GC_SECTIONS
-- Performing Test SUPPORTS_GC_SECTIONS - Success
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(lodepng) is deprecated, call
FetchContent_MakeAvailable(lodepng) instead. Policy CMP0169 can be set to
OLD to allow FetchContent_Populate(lodepng) to be called directly for now,
but the ability to call it with declared details will be removed completely
in a future version.
Call Stack (most recent call first):
cmake/MujocoDependencies.cmake:102 (FetchContent_Populate)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(marchingcubecpp) is deprecated, call
FetchContent_MakeAvailable(marchingcubecpp) instead. Policy CMP0169 can be
set to OLD to allow FetchContent_Populate(marchingcubecpp) to be called
directly for now, but the ability to call it with declared details will be
removed completely in a future version.
Call Stack (most recent call first):
cmake/MujocoDependencies.cmake:122 (FetchContent_Populate)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- mujoco::FindOrFetch: checking for targets in package qhull
-- mujoco::FindOrFetch: checking for targets in package qhull - target qhull not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve qhull
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(qhull) is deprecated, call
FetchContent_MakeAvailable(qhull) instead. Policy CMP0169 can be set to
OLD to allow FetchContent_Populate(qhull) to be called directly for now,
but the ability to call it with declared details will be removed completely
in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:129 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Looking for sys/types.h
-- Looking for sys/types.h - found
-- Looking for inttypes.h
-- Looking for inttypes.h - found
-- Looking for stddef.h
-- Looking for stddef.h - found
-- Looking for stdint.h
-- Looking for stdint.h - found
-- Check size of off_t
-- Check size of off_t - done
-- Looking for fseeko
-- Looking for fseeko - found
-- Looking for ftello
-- Looking for ftello - found
-- Looking for PRIdMAX
-- Looking for PRIdMAX - found

-- ========== qhull Build Information ==========
-- Build Version: 8.1-alpha3
-- Install Prefix (CMAKE_INSTALL_PREFIX): /usr/local
-- Binary Directory (CMAKE_INSTALL_BINDIR): bin
-- Library Directory (CMAKE_INSTALL_LIBDIR): lib
-- Include Directory (CMAKE_INSTALL_INCLUDEDIR): include
-- Documentation Directory (CMAKE_INSTALL_DOCDIR): share/doc/mujoco
-- Man Pages Directory (CMAKE_INSTALL_MANDIR): share/man
-- Build Type (CMAKE_BUILD_TYPE): Release
-- Build static libraries: ON
-- Build shared library: OFF
-- Use shared library for linking apps: OFF
-- Build tests: OFF
-- To override these options, add -D{OPTION_NAME}=... to the cmake command
-- Build the debug targets -DCMAKE_BUILD_TYPE=Debug

-- To build and install qhull, enter "make" and "make install"
-- To smoketest qhull, enter "ctest"

-- mujoco::FindOrFetch: Using FetchContent to retrieve qhull - Done
-- mujoco::FindOrFetch: checking for targets in package tinyxml2
-- mujoco::FindOrFetch: checking for targets in package tinyxml2 - target tinyxml2 not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve tinyxml2
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(tinyxml2) is deprecated, call
FetchContent_MakeAvailable(tinyxml2) instead. Policy CMP0169 can be set to
OLD to allow FetchContent_Populate(tinyxml2) to be called directly for now,
but the ability to call it with declared details will be removed completely
in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:153 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- mujoco::FindOrFetch: Using FetchContent to retrieve tinyxml2 - Done
-- mujoco::FindOrFetch: checking for targets in package tinyobjloader
-- mujoco::FindOrFetch: checking for targets in package tinyobjloader - target tinyobjloader not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve tinyobjloader
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(tinyobjloader) is deprecated, call
FetchContent_MakeAvailable(tinyobjloader) instead. Policy CMP0169 can be
set to OLD to allow FetchContent_Populate(tinyobjloader) to be called
directly for now, but the ability to call it with declared details will be
removed completely in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:176 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- mujoco::FindOrFetch: Using FetchContent to retrieve tinyobjloader - Done
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(trianglemeshdistance) is deprecated, call
FetchContent_MakeAvailable(trianglemeshdistance) instead. Policy CMP0169
can be set to OLD to allow FetchContent_Populate(trianglemeshdistance) to
be called directly for now, but the ability to call it with declared
details will be removed completely in a future version.
Call Stack (most recent call first):
cmake/MujocoDependencies.cmake:205 (FetchContent_Populate)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- mujoco::FindOrFetch: checking for targets in package ccd
-- mujoco::FindOrFetch: checking for targets in package ccd - target ccd not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve ccd
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(ccd) is deprecated, call
FetchContent_MakeAvailable(ccd) instead. Policy CMP0169 can be set to OLD
to allow FetchContent_Populate(ccd) to be called directly for now, but the
ability to call it with declared details will be removed completely in a
future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:217 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Performing Test COMPILER_SUPPORTS_VISIBILITY
-- Performing Test COMPILER_SUPPORTS_VISIBILITY - Success
-- mujoco::FindOrFetch: Using FetchContent to retrieve ccd - Done
-- mujoco::FindOrFetch: checking for targets in package absl
-- mujoco::FindOrFetch: checking for targets in package absl - target absl::core_headers not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve abseil-cpp
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(abseil-cpp) is deprecated, call
FetchContent_MakeAvailable(abseil-cpp) instead. Policy CMP0169 can be set
to OLD to allow FetchContent_Populate(abseil-cpp) to be called directly for
now, but the ability to call it with declared details will be removed
completely in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:261 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Performing Test ABSL_INTERNAL_AT_LEAST_CXX17
-- Performing Test ABSL_INTERNAL_AT_LEAST_CXX17 - Success
-- Performing Test ABSL_INTERNAL_AT_LEAST_CXX20
-- Performing Test ABSL_INTERNAL_AT_LEAST_CXX20 - Failed
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- mujoco::FindOrFetch: Using FetchContent to retrieve abseil-cpp - Done
-- mujoco::FindOrFetch: checking for targets in package GTest
-- mujoco::FindOrFetch: checking for targets in package GTest - target gtest not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve googletest
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(googletest) is deprecated, call
FetchContent_MakeAvailable(googletest) instead. Policy CMP0169 can be set
to OLD to allow FetchContent_Populate(googletest) to be called directly for
now, but the ability to call it with declared details will be removed
completely in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:288 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- mujoco::FindOrFetch: Using FetchContent to retrieve googletest - Done
-- mujoco::FindOrFetch: checking for targets in package benchmark
-- mujoco::FindOrFetch: checking for targets in package benchmark - target benchmark::benchmark not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve benchmark
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(benchmark) is deprecated, call
FetchContent_MakeAvailable(benchmark) instead. Policy CMP0169 can be set
to OLD to allow FetchContent_Populate(benchmark) to be called directly for
now, but the ability to call it with declared details will be removed
completely in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
cmake/MujocoDependencies.cmake:322 (findorfetch)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- LLVM FileCheck Found: /usr/bin/FileCheck
-- Found Git: /usr/bin/git (found version "2.51.0")
-- Google Benchmark version: v1.9.1-20-g049f6e79, normalized to 1.9.1.20
-- Looking for shm_open in rt
-- Looking for shm_open in rt - found
-- Performing Test HAVE_CXX_FLAG_WALL
-- Performing Test HAVE_CXX_FLAG_WALL - Success
-- Performing Test HAVE_CXX_FLAG_WEXTRA
-- Performing Test HAVE_CXX_FLAG_WEXTRA - Success
-- Performing Test HAVE_CXX_FLAG_WSHADOW
-- Performing Test HAVE_CXX_FLAG_WSHADOW - Success
-- Performing Test HAVE_CXX_FLAG_WFLOAT_EQUAL
-- Performing Test HAVE_CXX_FLAG_WFLOAT_EQUAL - Success
-- Performing Test HAVE_CXX_FLAG_WOLD_STYLE_CAST
-- Performing Test HAVE_CXX_FLAG_WOLD_STYLE_CAST - Success
-- Performing Test HAVE_CXX_FLAG_WCONVERSION
-- Performing Test HAVE_CXX_FLAG_WCONVERSION - Success
-- Performing Test HAVE_CXX_FLAG_WERROR
-- Performing Test HAVE_CXX_FLAG_WERROR - Success
-- Performing Test HAVE_CXX_FLAG_WSUGGEST_OVERRIDE
-- Performing Test HAVE_CXX_FLAG_WSUGGEST_OVERRIDE - Success
-- Performing Test HAVE_CXX_FLAG_PEDANTIC
-- Performing Test HAVE_CXX_FLAG_PEDANTIC - Success
-- Performing Test HAVE_CXX_FLAG_PEDANTIC_ERRORS
-- Performing Test HAVE_CXX_FLAG_PEDANTIC_ERRORS - Success
-- Performing Test HAVE_CXX_FLAG_WSHORTEN_64_TO_32
-- Performing Test HAVE_CXX_FLAG_WSHORTEN_64_TO_32 - Failed
-- Performing Test HAVE_CXX_FLAG_FSTRICT_ALIASING
-- Performing Test HAVE_CXX_FLAG_FSTRICT_ALIASING - Success
-- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED_DECLARATIONS
-- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED_DECLARATIONS - Success
-- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED
-- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED - Success
-- Performing Test HAVE_CXX_FLAG_WSTRICT_ALIASING
-- Performing Test HAVE_CXX_FLAG_WSTRICT_ALIASING - Success
-- Performing Test HAVE_CXX_FLAG_WD654
-- Performing Test HAVE_CXX_FLAG_WD654 - Failed
-- Performing Test HAVE_CXX_FLAG_WTHREAD_SAFETY
-- Performing Test HAVE_CXX_FLAG_WTHREAD_SAFETY - Failed
-- Performing Test HAVE_CXX_FLAG_COVERAGE
-- Performing Test HAVE_CXX_FLAG_COVERAGE - Success
-- Compiling and running to test HAVE_STD_REGEX
-- Performing Test HAVE_STD_REGEX -- success
-- Compiling and running to test HAVE_GNU_POSIX_REGEX
-- Performing Test HAVE_GNU_POSIX_REGEX -- failed to compile
-- Compiling and running to test HAVE_POSIX_REGEX
-- Performing Test HAVE_POSIX_REGEX -- success
-- Compiling and running to test HAVE_STEADY_CLOCK
-- Performing Test HAVE_STEADY_CLOCK -- success
-- Compiling and running to test HAVE_PTHREAD_AFFINITY
-- Performing Test HAVE_PTHREAD_AFFINITY -- success
-- mujoco::FindOrFetch: Using FetchContent to retrieve benchmark - Done
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(Eigen3) is deprecated, call
FetchContent_MakeAvailable(Eigen3) instead. Policy CMP0169 can be set to
OLD to allow FetchContent_Populate(Eigen3) to be called directly for now,
but the ability to call it with declared details will be removed completely
in a future version.
Call Stack (most recent call first):
cmake/MujocoDependencies.cmake:355 (FetchContent_Populate)
CMakeLists.txt:74 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- mujoco::FindOrFetch: checking for targets in package mujoco
-- mujoco::FindOrFetch: checking for targets in package mujoco - found
-- mujoco::FindOrFetch: checking for targets in package glfw3
-- mujoco::FindOrFetch: checking for targets in package glfw3 - target glfw not defined.
-- mujoco::FindOrFetch: Using FetchContent to retrieve glfw3
CMake Warning (dev) at /usr/share/cmake/Modules/FetchContent.cmake:1953 (message):
Calling FetchContent_Populate(glfw3) is deprecated, call
FetchContent_MakeAvailable(glfw3) instead. Policy CMP0169 can be set to
OLD to allow FetchContent_Populate(glfw3) to be called directly for now,
but the ability to call it with declared details will be removed completely
in a future version.
Call Stack (most recent call first):
cmake/FindOrFetch.cmake:126 (FetchContent_Populate)
simulate/cmake/SimulateDependencies.cmake:77 (findorfetch)
simulate/CMakeLists.txt:65 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Including Wayland support
-- Including X11 support
-- Looking for memfd_create
-- Looking for memfd_create - found
-- Found PkgConfig: /usr/bin/pkg-config (found version "2.5.1")
-- Checking for modules 'wayland-client>=0.2.7;wayland-cursor>=0.2.7;wayland-egl>=0.2.7;xkbcommon>=0.5.0'
-- Found wayland-client, version 1.24.0
-- Found wayland-cursor, version 1.24.0
-- Found wayland-egl, version 18.1.0
-- Found xkbcommon, version 1.11.0
-- Found X11: /usr/include
-- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so
-- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- mujoco::FindOrFetch: Using FetchContent to retrieve glfw3 - Done
-- mujoco::FindOrFetch: checking for targets in package mujoco
-- mujoco::FindOrFetch: checking for targets in package mujoco - found
-- mujoco::FindOrFetch: checking for targets in package glfw3
-- mujoco::FindOrFetch: checking for targets in package glfw3 - found
-- Configuring done (99.0s)
-- Generating done (0.4s)
-- Build files have been written to: /home/vlad/src/mujoco/build

🚀 vlad …/mujoco/build   main   15:00   in 1m39s413ms ❯ cmake --build .
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ld.lld: error: undefined symbol: main

referenced by /usr/lib/gcc/x86_64-pc-linux-gnu/15.2.1/../../../../lib/Scrt1.o:(_start)
collect2: ошибка: выполнение ld завершилось с кодом возврата 1
make[2]: *** [simulate/CMakeFiles/simulate.dir/build.make:106: bin/simulate] Ошибка 1
make[1]: *** [CMakeFiles/Makefile2:8107: simulate/CMakeFiles/simulate.dir/all] Ошибка 2
make: *** [Makefile:146: all] Ошибка 2

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[Karag0]

Building with clang solves this, just write this for fish

set -x CC clang
set -x CXX clang++

[wandida]

Thanks, I have the same error.
Is there also a way to fix this in the cmake file?

[Karag0]

cmake . -B build - G Ninja -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++

[Karag0]

I don't think that this is cmake error, i think this is some kind ld error

[okmatija]

Note that the compiler your system defaulted to, GCC 15, is not one that we are currently testing on GitHub CI. See this file for the list of supported compilers: https://github.com/google-deepmind/mujoco/blob/main/.github/workflows/build.yml

I'm not sure if things are broken in general on GCC 15 or if there is just some C++ toolchain issue with GCC on your system