Installing & Using MuJoCo 2.1.5 with OpenAi Gym

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  • mujoco-py

    MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.

    Following the instruction on just with the 2.1.5 version and I get following error when I try to import mujoco_py

  • dm_control

    DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.

    Deepmind Control Suite is a good alternative to Open AI Gym for continuous control tasks. It contains many of the environments present in Gym and also a few extra ones. Deepmind Control Suite also uses Mujoco. I found the installation to be straightforward. Check out

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  • fetch-and-slide-HRE-PRE

    In this project, I attempt to solve fetch and slide open gym environment with Hindsight Experience Replay and the I experiment with Prioritised experience replay to see if there are any performance improvements

    I had setup difficulties working with mujoco on m1 mac. I had to setup symlinks and also set cxx ans LDFLAGS in order to run mujoco properly. You can check the install script here:

  • gym

    A toolkit for developing and comparing reinforcement learning algorithms.

    We are making mujoco installation a lot easier (i.e. pip install gym[mujoco]) without all the pains with mujoco-py by adopting Deepmind’s new mujoco bindings, but this is a work in progress…

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