DllNotFoundException: mujoco assembly:<unknown assembly> type:<unknown type> member:(null)

[spoonbobo]

Intro

Hi!

I am a beginner in Unity Mujoco plugin

My setup

I am using Unity 6 6000.0.32f1 in Ubuntu.
Version of Mujoco unity plugin: 3.2.7
Plugin used: mujoco-3.2.7-linux-x86_64
ldd output:

spoonbobo@spoonbobo:~/gitrepo/simulator$ ldd ~/.mujoco/mujoco-3.2.7/lib/libmujoco.so
        linux-vdso.so.1 (0x00007ffc03761000)
        libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007709519f6000)
        libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x000077095190f000)
        libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x0000770951000000)
        /lib64/ld-linux-x86-64.so.2 (0x0000770951a12000)
        libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x000077095190a000)

My question

I've followed installation instructions in https://mujoco.readthedocs.io/en/stable/unity.html, basically installed the plugin via unity/package.json, and my ~/.mujoco looked like this:

spoonbobo@spoonbobo:~/.mujoco$ tree
.
└── mujoco-3.2.7
    ├── bin
    │   ├── basic
    │   ├── compile
    │   ├── mujoco_plugin
    │   │   ├── libactuator.so
    │   │   ├── libelasticity.so
    │   │   ├── libsdf.so
    │   │   └── libsensor.so
    │   ├── record
    │   ├── simulate
    │   └── testspeed
    ├── include
    │   └── mujoco
    │       ├── mjdata.h
    │       ├── mjexport.h
    │       ├── mjmacro.h
    │       ├── mjmodel.h
    │       ├── mjplugin.h
    │       ├── mjrender.h
    │       ├── mjsan.h
    │       ├── mjspec.h
    │       ├── mjthread.h
    │       ├── mjtnum.h
    │       ├── mjui.h
    │       ├── mjvisualize.h
    │       ├── mjxmacro.h
    │       └── mujoco.h
    ├── lib
    │   ├── libmujoco.so
    │   └── libmujoco.so.3.2.7
    ├── model

When importing scene (unity humanoid) in Unity, I am getting this:

Can anyone help?

Minimal model and/or code that explain my question

  <!-- geoms -->
  <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
  <default class="thigh">
    <geom size=".06"/>
  </default>
  <default class="shin">
    <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
  </default>
  <default class="foot">
    <geom size=".027"/>
    <default class="foot1">
      <geom fromto="-.07 -.01 0 .14 -.03 0"/>
    </default>
    <default class="foot2">
      <geom fromto="-.07 .01 0 .14  .03 0"/>
    </default>
  </default>
  <default class="arm_upper">
    <geom size=".04"/>
  </default>
  <default class="arm_lower">
    <geom size=".031"/>
  </default>
  <default class="hand">
    <geom type="sphere" size=".04"/>
  </default>

  <!-- joints -->
  <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
  <default class="joint_big">
    <joint damping="5" stiffness="10"/>
    <default class="hip_x">
      <joint range="-30 10"/>
    </default>
    <default class="hip_z">
      <joint range="-60 35"/>
    </default>
    <default class="hip_y">
      <joint axis="0 1 0" range="-150 20"/>
    </default>
    <default class="joint_big_stiff">
      <joint stiffness="20"/>
    </default>
  </default>
  <default class="knee">
    <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
  </default>
  <default class="ankle">
    <joint range="-50 50"/>
    <default class="ankle_y">
      <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
    </default>
    <default class="ankle_x">
      <joint pos="0 0 .04" stiffness="3"/>
    </default>
  </default>
  <default class="shoulder">
    <joint range="-85 60"/>
  </default>
  <default class="elbow">
    <joint range="-100 50" stiffness="0"/>
  </default>
</default>

Confirmations

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

[spoonbobo]

Solved the issue by clicking Assets -> reimport all. Thanks.