Mujoco and Mujoco-py Installation Instructions

mujoco_py_install_instructions.md

Mujoco and Mujoco-py Installation Instructions

The steps are taken from this video and document with some small changes.

Steps

1. Install Anaconda. Download it from this link.

cd Downloads/
sudo chmod +x Anaconda3-2021.11-Linux-x86_64.sh
./Anaconda3-2021.11-Linux-x86_64.sh

2. Install git.

sudo apt install git

3. Install the Mujoco library.

   • Download the Mujoco library from this link.
   • Create a hidden folder :

   mkdir /home/username/.mujoco
   

   • Extract the library to the .mujoco folder.

   tar -xvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco/
   

   • Include these lines in .bashrc file.

   # Replace user-name with your username
   echo -e 'export LD_LIBRARY_PATH=/home/user-name/.mujoco/mujoco210/bin 
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia 
   export PATH="$LD_LIBRARY_PATH:$PATH" 
   export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so' >> ~/.bashrc
   

   • Source bashrc.

   source ~/.bashrc
   

   • Test that the library is installed.

   cd ~/.mujoco/mujoco210/bin
   ./simulate ../model/humanoid.xml
   

4. Install mujoco-py.

conda create --name mujoco_py python=3.8
conda activate mujoco_py
sudo apt update
sudo apt-get install patchelf
sudo apt-get install python3-dev build-essential libssl-dev libffi-dev libxml2-dev  
sudo apt-get install libxslt1-dev zlib1g-dev libglew1.5 libglew-dev python3-pip

# Clone mujoco-py.
cd ~/.mujoco
git clone https://github.com/openai/mujoco-py
cd mujoco-py
pip install -r requirements.txt
pip install -r requirements.dev.txt
pip3 install -e . --no-cache

5. Reboot your machine.

sudo reboot

6. After reboot, run these commands to install additional packages.

conda activate mujoco_py
sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
sudo ln -s /usr/lib/x86_64-linux-gnu/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so
# If you get an error like: "ln: failed to create symbolic link '/usr/lib/x86_64-linux-gnu/libGL.so': File exists", it's okay to proceed
pip3 install -U 'mujoco-py<2.2,>=2.1'

7. Check if mujoco-py is properly installed.

cd ~/.mujoco/mujoco-py/examples
python3 setting_state.py

When i run,
python3 setting_state.py
I get the following error:
`Creating window glfw
ERROR: GLEW initalization error: Unknown error

Press Enter to exit ...`
Any help regarding this error?