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Installation

A short guide to install this package is below. The package relies on mujoco-py which might be the trickiest part of the installation. See known issues below and also instructions from the mujoco-py page if you are stuck with mujoco-py installation.

Linux

  • Download MuJoCo v2.1.0 binaries from the official website.
wget -q https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-linux-x86_64.tar.gz -O mujoco210.tar.gz
  • Unzip the downloaded mujoco210 binary into ~/.mujoco/mujoco210.
mkdir "$HOME/.mujoco"
tar -zxf mujoco210.tar.gz -C "$HOME/.mujoco"
rm mujoco210.tar.gz
  • Install osmesa related dependencies:
$ sudo apt-get install libgl1-mesa-dev libgl1-mesa-glx libglew-dev libosmesa6-dev build-essential libglfw3
  • Update bashrc by adding the following lines and source it
export LD_LIBRARY_PATH="<path/to/.mujoco>/mujoco210/bin:$LD_LIBRARY_PATH"
export MUJOCO_PY_FORCE_CPU=True
alias MJPL='LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/nvidia-384/libGL.so'
  • Install this package using
$ conda update conda
$ cd <path/to/myosuite>
$ conda env create -f setup/env.yml
$ conda activate myosuite-env
$ pip install -e .

  • NOTE 1: If there are issues with install of pytorch, please follow instructions from the pytorch website to install it properly based on the specific version of CUDA (or CPU-only) you have.

  • NOTE 2: If you encounter a patchelf error in mujoco_py install, you can fix this with the following command when inside the anaconda env: conda install -c anaconda patchelf. See this page for additional info.

Mac OS

  • Download MuJoCo v2.1.0 binaries from the official website.
wget -q https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-macos-x86_64.tar.gz -O mujoco210.tar.gz
  • Unzip the downloaded mujoco210 binary into ~/.mujoco/mujoco210.
mkdir "$HOME/.mujoco"
tar -zxf mujoco210.tar.gz -C "$HOME/.mujoco"
rm mujoco210.tar.gz
  • Update bashrc by adding the following lines and source it
export LD_LIBRARY_PATH="<path/to/.mujoco>/mujoco210/bin:$LD_LIBRARY_PATH"
  • Install this package using
$ conda update conda
$ cd path/to/myosuite
$ conda env create -f setup/env.yml
$ conda activate myosuite-env
$ pip install -e .

  • NOTE 1: If there are issues with install of pytorch, please follow instructions from the pytorch website to install it properly.

  • NOTE 2: If you encounter a patchelf error in mujoco_py install, you can fix this with the following command when inside the anaconda env: conda install -c anaconda patchelf. See this page for additional info.

Known Issues

  • Visualization in linux: If the linux system has a GPU, then mujoco-py does not automatically preload the correct drivers. We added an alias MJPL in bashrc (see instructions) which stands for mujoco pre-load. When runing any python script that requires rendering, prepend the execution with MJPL.
$ MJPL python script.py
  • Errors related to osmesa during installation. This is a mujoco-py build error and would likely go away if the following command is used before creating the conda environment. If the problem still persists, please contact the developers of mujoco-py
$ sudo apt-get install libgl1-mesa-dev libgl1-mesa-glx libglew-dev libosmesa6-dev
  • If conda environment creation gets interrupted for some reason, you can resume it with the following:
$ conda env update -n myosuite-env -f setup/env.yml
  • GCC error in Mac OS: If you get a GCC error from mujoco-py, you can get the correct version mujoco-py expects with brew install gcc --without-multilib. This may require uninstalling other versions of GCC that may have been previously installed with brew remove gcc@6 for example. You can see which brew packages were already installed with brew list.