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To install mujoco follow: https://github.com/openai/mujoco-py.

To get your computer id for the form on the mujoco website run the file other/getid_linux
Probably also need to run these commands:

  • sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
  • or: sudo apt-get install libglfw3 libglew2.0 (openai/mujoco-py#549)

When mujoco is installed at folder $HOME/.mujoco/mujoco200_linux run this commands which adds variables to your ~/.bashrc script.

echo -e "
export MUJOCO_GL=\"glfw\" \n\
export MJLIB_PATH=\$HOME/.mujoco/mujoco200_linux/bin/libmujoco200.so \n\
export MJKEY_PATH=\$HOME/.mujoco/mujoco200_linux/mjkey.txt \n\
export LD_LIBRARY_PATH=\$HOME/.mujoco/mujoco200_linux/bin:\$LD_LIBRARY_PATH\n\
export MUJOCO_PY_MJPRO_PATH=\$HOME/.mujoco/mujoco200_linux/ \n\
export MUJOCO_PY_MJKEY_PATH=\$HOME/.mujoco/mujoco200_linux/mjkey.txt \n\
" \
>>~/.bashrc

Run in pycharm

It can happen that the license key of mujoco can't be found. Add this to the Environment variables of the run configuration: ;MJKEY_PATH=$HOME/.mujoco/mujoco200_linux/mjkey.txt