WSL2环境搭建Mujoco

WSL2环境搭建Mujoco

• 亲测有效

mujoco包下载

mkdir ~/.mujoco
cd ~/.mujoco
wget https://www.roboti.us/download/mujoco200_linux.zip
unzip mujoco200_linux.zip
mv mujoco200_linux mujoco200
rm mujoco200_linux.zip
cp <location_of_mjkey.txt> .

• 注意：mjkey.txt在~/.mujoco和~/.mujoco/mujoco200/bin中均要添加

Ubuntu GUI环境的配置

 sudo apt install libgl1-mesa-dev xorg-dev
 sudo apt install libgl1-mesa-dev freeglut3-dev libglu1-mesa-dev
 sudo apt install libsoil-dev libglm-dev libassimp-dev libglew-dev libglfw3-dev libxinerama-dev libxcursor-dev libxi-dev

Windows Xserver的配置

• 下载VcXsrv
• 点击后，配置Display number=0
• 最后勾选首尾两个选项，最后一行填入-ac

.bashrc文件的配置

export LD_LIBRARY_PATH=~/.mujoco/mujoco200/bin${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}} 
export MUJOCO_KEY_PATH=~/.mujoco${MUJOCO_KEY_PATH}
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0.0
export MESA_GL_VERSION_OVERRIDE=3.3
unset LIBGL_ALWAYS_INDIRECT

验证

• 出现眼睛即为成功

sudo apt install x11-apps
xeyes

• 最终验证，执行成功

cd ./mujoco200/bin
./simulate ../model/humanoid.xml