> For the complete documentation index, see [llms.txt](https://tk233.gitbook.io/notes/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://tk233.gitbook.io/notes/ml-rl/rl-frameworks/getting-started-with-mujoco.md).

# Getting Started with Mujoco

## OpenAI gym + Mujoco Setup

### Prerequisite

Install conda from [here](https://conda.io/projects/conda/en/latest/user-guide/install/linux.html).

### 1. Create conda environment

```bash
conda create --name biped

conda activate biped
```

### 2. Install gym and mujoco

```bash
pip install gym[mujoco]
```

It's possible that we may also need to install some system packages

```bash
sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
sudo apt install patchelf
```

## API Reference

{% embed url="<https://mujoco.readthedocs.io/en/latest/APIreference/APItypes.html#mjdata>" %}