Mujoco_WASM/python

MuJoCo Python Bindings

This package is the canonical Python bindings for the MuJoCo physics engine. These bindings are developed and maintained by DeepMind, and is kept up-to-date with the latest developments in MuJoCo itself.

The mujoco package provides direct access to raw MuJoCo C API functions, structs, constants, and enumerations. Structs are provided as Python classes, with Pythonic initialization and deletion semantics.

It is not the aim of this package to provide fully fledged scene/environment/game authoring API, as there are already a number of existing packages that do this well. However, this package does provide a number of lower-level components outside of MuJoCo itself that are likely to be useful to most users who access MuJoCo through Python. For example, the egl, glfw, and osmesa subpackages contain utilities for setting up OpenGL rendering contexts.

Installation

PyPI (Recommended)

The recommended way to install this package is via PyPI:

pip install mujoco

A copy of the MuJoCo library is provided as part of the package and does not need to be downloaded or installed separately.

Source

IMPORTANT: Building from source is only necessary if you are modifying the Python bindings (or are trying to run on exceptionally old Linux systems). If that's not the case, then we recommend installing the prebuilt binaries from PyPI.

1. Make sure you have CMake and a C++17 compiler installed.

2. Download the latest binary release from GitHub. On macOS, the download corresponds to a DMG file from which you can drag MuJoCo.app into your /Applications folder.

3. Clone the entire mujoco repository from GitHub and cd into the python directory.

   git clone https://github.com/deepmind/mujoco.git
   cd mujoco/python
   

4. Create a virtual environment:

   python3 -m venv /tmp/mujoco
   source /tmp/mujoco/bin/activate
   

5. Generate a source distribution tarball with the make_sdist.sh script.

   cd python
   bash make_sdist.sh
   

   The make_sdist.sh script generates additional C++ header files that are needed to build the bindings, and also pulls in required files from elsewhere in the repository outside the python directory into the sdist. Upon completion, the script will create a dist directory with a mujoco-x.y.z.tar.gz file (where x.y.z is the version number).

6. Use the generated source distribution to build and install the bindings. You'll need to specify the path to the MuJoCo library you downloaded earlier in the MUJOCO_PATH environment variable.

   Note: For macOS, this can be the path to a directory that contains the mujoco.framework. In particular, you can set MUJOCO_PATH=/Applications/MuJoCo.app if you installed MuJoCo as suggested in step 1.

   cd dist
   MUJOCO_PATH=/PATH/TO/MUJOCO pip install mujoco-x.y.z.tar.gz
   

The Python bindings should now be installed! To check that they've been successfully installed, cd outside of the mujoco directory and run python -c "import mujoco".

Usage

Once installed, the package can be imported via import mujoco. Please consult our documentation for further detail on the package's API.

Versioning

The major.minor.micro portion of the version number matches the version of MuJoCo that the bindings provide. Optionally, if we release updates to the Python bindings themselves that target the same version of MuJoCo, a .postN suffix is added, for example 2.1.2.post2 represents the second update to the bindings for MuJoCo 2.1.2.

License and Disclaimer

Copyright 2022 DeepMind Technologies Limited

MuJoCo and its Python bindings are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at https://www.apache.org/licenses/LICENSE-2.0.

This is not an officially supported Google product.