Step-by-Step Guide for Installing Mujoco and Mujoco-py on Ubuntu

Step-by-Step Guide for Installing Mujoco and Mujoco-py on Ubuntu

Table of Contents:

1. Introduction
2. Installing Mujoku 2.1 Preliminaries 2.2 Downloading the Mujoku Library 2.3 Creating a Hidden Folder 2.4 Extracting the Library to the Folder 2.5 Updating the .bashrc File 2.6 Sourcing the .bashrc File
3. Installing Mujuku Pi 3.1 Creating an Anaconda Environment 3.2 Installing Required Packages 3.3 Cloning the Mujuku Pi Repository 3.4 Installing Python Requirements 3.5 Rebooting the Machine 3.6 Activating the Environment 3.7 Running the Installation 3.8 Checking the Running Simulation
4. Conclusion

Installing Mujoku and Mujuku Pi: A Step-by-Step Guide

Introduction: Welcome to this tutorial on installing Mujoku and Mujuku Pi. In this guide, we will walk you through the process of installing these libraries for simulation purposes and using them with Python. Mujoku is a physics engine primarily used for simulations and can even be integrated with game engines like Unity or Unreal Engine. Mujuku Pi is a Python wrapper for Mujoku, enabling you to work with the library in a Python environment. So let's get started!

Installing Mujoku: 2.1 Preliminaries: Before we begin, make sure you have Anaconda installed on your machine. If you don't have it already, you can install it by running a few simple commands in your Ubuntu machine. If you are unfamiliar with the installation process for Anaconda, you can easily find tutorials online to guide you through it. Additionally, we also need Git for this installation, so if you don't have it, a single-line command will install Git for you.

2.2 Downloading the Mujoku Library: To start the installation process, head over to the Mujuku Pi GitHub page. You can do this by Googling "Mujukupi" and clicking on the first link that appears. On the GitHub page, you'll find the link to download the Mujoku library. Clicking on this link will download a zip file containing the library.

2.3 Creating a Hidden Folder: Before extracting the library, we need to create a hidden folder called ".mujuku" in the desired location. Open a terminal and navigate to your home directory. Use the command mkdir .mujuku to Create the hidden folder. The dot preceding the folder name indicates that it is hidden.

2.4 Extracting the Library to the Folder: Now that the hidden folder is created, extract the downloaded zip file into the ".mujuku" folder. You can do this by right-clicking on the zip file, selecting "Extract," and choosing the location as the ".mujuku" folder. After extraction, you should see a "mujoko200" folder inside the ".mujuku" folder, containing various subfolders like "bin," "include," "model," and "sample."

2.5 Updating the .bashrc File: Next, we need to make some changes to the ".bashrc" file to ensure smooth execution of Mujoku. The ".bashrc" file is a hidden file located in your home directory. If you can't see it, press "Ctrl + H" to show hidden files. Open the ".bashrc" file, and add the following four lines of code to it:

export LD_LIBRARY_PATH="$HOME/.mujuku/mujoco200/bin"
export MUJOCO_PY_MUJOCO_PATH="$HOME/.mujuku/mujoco200"
export MUJOCO_PY_MJPRO_PATH="$HOME/.mujuku/mujoco200"
export MUJOCO_PY_MJKEY_PATH="$HOME/.mujuku/mujoco200"

Make sure to replace "$HOME" with your actual home directory path. These lines of code set the necessary environment variables for Mujoku to function properly.

2.6 Sourcing the .bashrc File: To activate the changes made to the ".bashrc" file, you need to source it. Open a new terminal and run the command source ~/.bashrc. This will Apply the changes, making them effective for the rest of your session.

Installing Mujuku Pi: 3.1 Creating an Anaconda Environment: To use Mujuku Pi with Python, we need to create a virtual environment using Anaconda. Activate your Anaconda installation and run the command conda create --name mujuku python=3.8. This command creates a new environment named "mujuku" with Python version 3.8. If You already have the environment, you can skip this step.

3.2 Installing Required Packages: Before proceeding further, update the repositories by running sudo apt-get update. Then, install the "patchelf" Package by running sudo apt-get install patchelf. This package is required for the Mujuku Pi installation.

3.3 Cloning the Mujuku Pi Repository: Navigate to the ".mujuku" folder and clone the Mujuku Pi repository using the command git clone <repository-link>. You can choose any location to clone the repository.

3.4 Installing Python Requirements: Inside the cloned repository, you'll find two requirement files: "requirements.txt" and "requirements.dev.txt". Install the required Python packages by running the following two commands:

pip install -r requirements.txt
pip install -r requirements.dev.txt

This ensures that all necessary Python dependencies are installed.

3.5 Rebooting the Machine: To ensure smooth operation after installation, it's advisable to reboot your machine. Restart your system and proceed to the next step.

3.6 Activating the Environment: Open a terminal and activate the "mujuku" environment using the command conda activate mujuku. This will switch your terminal session to the "mujuku" environment, allowing you to install Mujuku Pi.

3.7 Running the Installation: Next, we need to run a few installation commands to complete the setup. Run the following commands one by one:

pip install -U mujukupi==2.2.2.1
ln -s $MUJOCO_PY_MJPRO_PATH ~/.mujuku/mjpro150

The first command installs Mujuku Pi, while the Second command creates a symbolic link to the Mujoco Pro library directory.

3.8 Checking the Running Simulation: To ensure that the installation was successful, we'll run a simple Python script provided with Mujuku Pi. Navigate to the "examples" folder inside ".mujuku/mujukupi". Run the following command:

python setting_state.py

If everything is set up correctly, you should see a running simulation of Mujuku wrapped with Python scripts.

Conclusion: Congratulations! You have successfully installed Mujoku and Mujuku Pi. Now you can effectively use the powerful simulation capabilities of Mujoku in your Python projects. Enjoy exploring and experimenting with this fantastic library. If you have any questions or need further assistance, don't hesitate to leave a comment below.

Highlights:

• Mujoku is a physics engine used for simulations.
• Mujuku Pi is a Python wrapper for Mujoku.
• Follow the step-by-step guide to install Mujoku and Mujuku Pi.
• Use Anaconda for creating a virtual environment.
• The .bashrc file needs to be updated for smooth execution.
• Reboot your machine after installation.
• Verify the installation by running a sample simulation script.

FAQ:

Q: Can I use Mujoku with game engines like Unity or Unreal Engine? A: Yes, Mujoku can be integrated with game engines like Unity or Unreal Engine.

Q: Do I need Anaconda for installing Mujoku? A: Yes, Anaconda is required for creating a virtual environment and managing the Mujoku installation.

Q: Are there any specific Python versions supported by Mujuku Pi? A: Mujuku Pi supports Python version 3.8.

Q: What should I do if I encounter errors during the installation process? A: Check the error message carefully and ensure that you have followed each step correctly. If you're still facing issues, leave a comment for further assistance.

Q: Can I contribute to the Mujuku Pi repository? A: Yes, Mujuku Pi is an open-source project, and contributions are welcome. You can find the repository on GitHub and contribute to its development.