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.

The package can handle both MuJoCo v1.5 as well as MuJoCo v2.0, but the former is not supported for future updates. We encourage you to use v2.0.

Linux

• Download MuJoCo v2.0 binaries from the official website and also obtain the license key.
• Unzip the downloaded mujoco200 directory into ~/.mujoco/mujoco200, and place your license key (mjkey.txt) at ~/.mujoco/mjkey.txt. Note that unzip of the MuJoCo binaries will generate mujoco200_linux. You need to rename the directory and place it at ~/.mujoco/mujoco200.
• 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>/mujoco200/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/env.yml
$ source activate mjrl-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 binaries from the official website and also obtain the license key.
• Unzip the downloaded mujoco200 directory into ~/.mujoco/mujoco200 (rename unzipped directory to this), 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>/mujoco200/bin:$LD_LIBRARY_PATH"

• Install this package using

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