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+Installation
+============
+
+We highly recommend a linux system for easy installation.
+
+First you will need to install Mujoco (older version). Please make sure that Anaconda as well as git are also installed on your system.
+
+1. Download the library using this link: https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
+
+2. Create a hidden folder in your root directory called .mujoco as such (replacing the path with the path on your computer): 
+    
+    ``mkdir /home/username/.mujoco``
+
+3. Extract the downloaded library into the newly created hidden folder:
+
+    ``tar -xvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco/``
+
+4. Open your .bashrc file in your root/home directory:
+
+    ``nano .bashrc``
+
+5. Once in the .bashrc file, add the following line replacing the path with your true home directory:
+
+    ``export LD_LIBRARY_PATH=/home/user-name/.mujoco/mujoco210/bin``
+
+6. If your system has an nvidia GPU, add this line as well:
+
+    ``export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia``
+
+7. Save, close, then source the .bashrc using the following command:
+
+    ``source ~/.bashrc``
+
+8. Reboot your system to ensure changes are made
+
+9. Create a new environment using conda:
+
+    ``conda env create --name nusim --file=requirements.yml``
+
+10. Activate the conda environment:
+
+    ``conda activate nusim``
+
+
+If facing errors
+----------------
+
+1. If you are on linux (and may apply to Mac as well), there will likely be additional packages necessary. Here is a list of possible packages:
+
+    * patchelf
+    * python3-dev
+    * build-essential
+    * libssl-dev
+    * libffi-dev
+    * libxml2-dev
+    * libxslt1-dev
+    * zlib1g-dev
+    * libglew1.5
+    * libglew-dev
+    * libosmesa6-dev
+    * libgl1-mesa-glx
+    * libglfw3
+
+2. Lastly, within the conda environment there are additional packages necessary to ensure the training can run:
+
+    * cython
+    * matplotlib
+    * scipy
+    * torch
+    * PyYaml
+    * configargparse
+    * numpy
+    * gym
+    * pandas
+    * pyquaternion
+    * scikit-video
+
+
+
+