今天在ubuntu中安装了mujoco-py，安装过程还是挺曲折的，我这里记录一下我的安装过程：
在这个网站上下载key, https://www.roboti.us/license.html
在github下载源码：https://github.com/openai/mujoco-py
这是官方readme的教程，照着做就行了：

Download the MuJoCo version 2.1 binaries for Linux or OSX.
Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210.
git clone https://hub.fastgit.org/openai/mujoco-py.git
cd mujoco-py
pip install -r requirements.txt
pip install -r requirements.dev.txt
pip install -e .

然后这样就能安装成功了：

Requirement already satisfied: pillow in /home/eric/anaconda3/lib/python3.6/site-packages (from imageio>=2.1.2->mujoco-py==2.1.2.14) (6.2.2)
Installing collected packages: mujoco-py
  Attempting uninstall: mujoco-py
    Found existing installation: mujoco-py 2.0.2.8
    Uninstalling mujoco-py-2.0.2.8:
      Successfully uninstalled mujoco-py-2.0.2.8
  Running setup.py develop for mujoco-py
Successfully installed mujoco-py
WARNING: You are using pip version 20.3.4; however, version 21.3.1 is available.
You should consider upgrading
......

然后运行程序的时候，根据提示设置环境变量：

 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/eric/.mujoco/mujoco210/bin
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia

就可以正常跑程序啦。

参考文献

[1].​​ubuntu 16.04安装mujoco​​