$ wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
$ mkdir ~/.mujoco
$ mv mujoco210-linux-x86_64.tar.gz ~/.mujoco
$ cd ~/.mujoco && tar -xf mujoco210-linux-x86_64.tar.gz
Execute the following commands to add environment variables required by Mujoco to your .bashrc. Replace <user> with your user name.
$ echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/<user>/.mujoco/mujoco210/bin' >> ~/.bashrc
$ echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia' >> ~/.bashrc
Source after you are done!
$ source ~/.bashrc
$ pip install mujoco-py
As an alternative, install all packages from the conda environment yaml:
$ conda env create -f environment.yml
If mujoco_test.py is exiting with the following error
FileNotFoundError: [Errno 2] No such file or directory: 'patchelf'
you have to install patchelf.
$ cd ~/ && git clone https://github.com/NixOS/patchelf.git
$ cd patchelf && ./bootstrap.sh
$ ./configure --prefix=$HOME/.local
$ make
$ make install
$ rm -rf ~/patchelf
Add .local/bin to PATH in .bashrc. Make sure to replace <user> with your user name.
$ echo 'export PATH=$PATH:/home/<user>/.local/bin' >> ~/.bashrc
Don't forget to source.
$ source ~/.bashrc
Sometimes rendering the simulation throws the error
GLEW initalization error: Missing GL version
This can be resolved by adding an additional environment variable to your .bashrc (source after you are done!).
$ echo 'export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so' >> ~/.bashrc
Note: Depending on the installed version, it may also be required to remove this line. If you get an error with this line in your bashrc, try removing it.
If this error occures, you are missing libraries for the cython extension compilation. Install the necessary libraries with
$ sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
You should now be able to run mujoco_test.py