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 binaries from the official website and also obtain the license key.
• Unzip the downloaded mjpro150 directory into ~/.mujoco/mjpro150, and place your license key (mjkey.txt) at ~/.mujoco/mjkey.txt
• 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>/mjpro150/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/mjrl>
$ conda env create -f setup/linux.yml
$ source activate mjrl-env
$ pip install -e .

Mac OS

• Download MuJoCo binaries from the official website and also obtain the license key.
• Unzip the downloaded mjpro150 directory into ~/.mujoco/mjpro150, and place your license key (mjkey.txt) at ~/.mujoco/mjkey.txt
• Update bashrc by adding the following lines and source it

export LD_LIBRARY_PATH="<path/to/.mujoco>/mjpro150/bin:$LD_LIBRARY_PATH"

• Install this package using

$ conda update conda
$ cd path/to/mjrl
$ conda env create -f setup/mac.yml
$ source activate mjrl-env
$ pip install -e .

mujoco-py seems to require specific versions of GCC installed for MacOS. Assuming you have Homebrew installed (https://brew.sh/), you can install the correct GCC version with the command 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.

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 mjrl-env -f setup/[mac,linux].yml