diff --git a/setup.py b/setup.py
index 4ed926ae9..3c6c4cae1 100644
--- a/setup.py
+++ b/setup.py
@@ -20,6 +20,7 @@
         'joblib',
         'matplotlib',
         'mpi4py',
+        'mujoco-py<2.1,>=2.0',
         'numpy',
         'pandas',
         'pytest',