MuJoCo Installation Guide

MuJoCo

1. Download Source Code

Click Download in the top-right corner of MuJoCo.

  • For Linux, download the tar.gz package (it can be used directly after extraction): GitHub

2. Installation

Strictly speaking, this step includes extraction, copying, and environment variable configuration.

mkdir ~/.mujoco
tar -zxvf <filename> -C ~/.mujoco
sudo nano ~/.bashrc

# Add the following at the end of the file
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/<your-username>/.mujoco/mujoco-<replace-3.5.0-with-version>/bin

source ~/.bashrc

Please verify that the paths above match your local environment.

3. Test

cd ~/.mujoco/mujoco-<replace-3.5.0-with-version>/bin

# The humanoid.xml directory path may differ by version
./simulate ../model/humanoid/humanoid.xml

If the following window appears, MuJoCo has been installed successfully: 1772105385855.png