Mujoco-py: What is the step by step process to install mujoco-py in Windows 10 without installing Anaconda?

Created on 12 May 2018  路  11Comments  路  Source: openai/mujoco-py

picture akshay-sophos
👍7

Most helpful comment

Follow these steps to install on Windows:

mkdir %userprofile%\.mujoco

extract mjpro150_win64.zip in %userprofile%\.mujoco

Copy mjkey.txt %userprofile%\.mujoco\mjkey.txt
Copy mjkey.txt %userprofile%\.mujoco\mjpro150\bin\mjkey.txt

Activate your Python env in which you want to install.

SET PATH=%userprofile%\.mujoco\mjpro150\bin;%PATH%;

Install Microsoft Visual C++ Build Tools 2015: https://download.microsoft.com/download/5/f/7/5f7acaeb-8363-451f-9425-68a90f98b238/visualcppbuildtools_full.exe?fixForIE=.exe

Check Windows 8.1 SDK and Windows 10 SDK options

Use Visual C++ 2015 x64 Native Build Tools Command Prompt in C:\Program Files (x86)\Microsoft Visual C++ Build Tools - https://stackoverflow.com/a/45918595/7448860

cd "C:\Users\USER\Downloads\Compressed\mujoco-py-master"

pip install -r requirements.txt
pip install -r requirements.dev.txt
python setup.py install
聽
import mujoco_py

Enjoy!! :)

picture gtatiya on 11 Dec 2018
👍13 🚀2

All 11 comments

Here's what worked for me.

Background

Mujoco must be installed, working and with a valid key. I'll assume you've done that bit.

Mujoco-py uses cythonize to compile code. For that to work you need a working set of build tools. You might already have these if you have Visual Studio installed.

If you don't have visual studio installed (and don't want to install the giant IDE) you can download just the build tools and install them. (Note it will default to also installing the Windows SDK, but I didn't need that and it saved several GB of disk space by not including it during the install process)

Once that is installed you should have a new terminal installed called x64 Native Tools Command Prompt for VS 2017. You should be able to find and launch that from the windows menu.

Perform the rest of these commands in that window.

Install

Clone this repository and move into the directory.

git clone [email protected]:openai/mujoco-py.git
cd mujoco-py

Make sure your setup tools are up to date

python -m pip install --upgrade setuptools

Install both regular and dev dependencies for mujoco-py

pip install -r requirements.txt
pip install -r requirements.dev.txt

Now install mujoco-py

python setup.py install

If this completes successfully you should be able to run the examples

python examples\body_interaction.py

Troubleshooting

I had an old partially compiled version of mujoco_py in my pythonpath that was very confusing. I uninstalled mujoco-py and then had to manually delete the mujoco-py directory from c:\users\<USER>\appdata\local\programs\python\python36\lib\site-packages

I was then able to follow the above.

Mis-configured versions of Visual Studio may also cause problems as would an out-of-date setuptools.

iandanforth picture iandanforth on 28 Jul 2018
👍12 🚀1 ❤1

Hi, @iandanforth ,

I have fully followed all the steps you have indicated below. All is properly installed, but when I run the example _body_interaction.py_ I get the following error:
cl.exe failed with exit status 2
Why does this error appear?

Thanks in advance!

Jesus

jesdefer picture jesdefer on 22 Aug 2018

@iandanforth here you can find here the command window output:

C:\Users\USUARIO\Dropbox\TFM\Mujoco\mujoco-py>python examples\body_interaction.py
Traceback (most recent call last):
  File "examples\body_interaction.py", line 10, in <module>
    from mujoco_py import load_model_from_xml, MjSim, MjViewer
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\__init__.py", line 1, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, Mujoc
oException
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 468, in <module>
    cymj = load_cython_ext(mjpro_path)
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 78, in load_cython_ext
    "set %s=%s;%%%s%%" % (var, lib_path, var))
Exception: Please add mujoco library to your PATH:
set PATH=C:\Users\USUARIO\.mujoco\mjpro150\bin;%PATH%

C:\Users\USUARIO\Dropbox\TFM\Mujoco\mujoco-py>SET PATH=%userprofile%\.mujoco\mjp
ro150\bin;%PATH%;

C:\Users\USUARIO\Dropbox\TFM\Mujoco\mujoco-py>python examples\body_interaction.p
y
running build_ext
building 'mujoco_py.cymj' extension
C:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\VC\Tools\MSVC\14.
15.26726\bin\HostX86\x86\cl.exe /c /nologo /Ox /W3 /GL /DNDEBUG /MD -IC:\Python\
Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mujoco_py -IC:\Users
\USUARIO\.mujoco\mjpro150\include -IC:\Python\Python36-32\lib\site-packages\nump
y\core\include -IC:\Python\Python36-32\include -IC:\Python\Python36-32\include "
-IC:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\VC\Tools\MSVC\1
4.15.26726\include" /TcC:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.
56-py3.6.egg\mujoco_py\cymj.c /FoC:\Python\Python36-32\lib\site-packages\mujoco_
py-1.50.1.56-py3.6.egg\mujoco_py\generated\_pyxbld_1.50.1.56_36_windowsextension
builder\temp.win32-3.6\Release\Python\Python36-32\lib\site-packages\mujoco_py-1.
50.1.56-py3.6.egg\mujoco_py\cymj.obj -fopenmp -w
cl : L铆nea de comandos warning D9025 : invalidando '/W3' con '/w'
cl : L铆nea de comandos warning D9002 : se omite la opci贸n desconocida '-fopenmp'

cymj.c
c:\python\python36-32\include\pyconfig.h(59): fatal error C1083: No se puede abr
ir el archivo incluir: 'io.h': No such file or directory
Traceback (most recent call last):
  File "C:\Python\Python36-32\lib\distutils\_msvccompiler.py", line 423, in comp
ile
    self.spawn(args)
  File "C:\Python\Python36-32\lib\distutils\_msvccompiler.py", line 542, in spaw
n
    return super().spawn(cmd)
  File "C:\Python\Python36-32\lib\distutils\ccompiler.py", line 909, in spawn
    spawn(cmd, dry_run=self.dry_run)
  File "C:\Python\Python36-32\lib\distutils\spawn.py", line 38, in spawn
    _spawn_nt(cmd, search_path, dry_run=dry_run)
  File "C:\Python\Python36-32\lib\distutils\spawn.py", line 81, in _spawn_nt
    "command %r failed with exit status %d" % (cmd, rc))
distutils.errors.DistutilsExecError: command 'C:\\Program Files (x86)\\Microsoft
 Visual Studio\\2017\\BuildTools\\VC\\Tools\\MSVC\\14.15.26726\\bin\\HostX86\\x8
6\\cl.exe' failed with exit status 2

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "examples\body_interaction.py", line 10, in <module>
    from mujoco_py import load_model_from_xml, MjSim, MjViewer
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\__init__.py", line 1, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, Mujoc
oException
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 468, in <module>
    cymj = load_cython_ext(mjpro_path)
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 90, in load_cython_ext
    cext_so_path = builder.build()
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 202, in build
    built_so_file_path = self._build_impl()
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 225, in _build_impl
    dist.run_commands()
  File "C:\Python\Python36-32\lib\distutils\dist.py", line 955, in run_commands
    self.run_command(cmd)
  File "C:\Python\Python36-32\lib\distutils\dist.py", line 974, in run_command
    cmd_obj.run()
  File "C:\Python\Python36-32\lib\site-packages\Cython\Distutils\old_build_ext.p
y", line 186, in run
    _build_ext.build_ext.run(self)
  File "C:\Python\Python36-32\lib\distutils\command\build_ext.py", line 339, in
run
    self.build_extensions()
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 125, in build_extensions
    build_ext.build_extensions(self)
  File "C:\Python\Python36-32\lib\site-packages\Cython\Distutils\old_build_ext.p
y", line 194, in build_extensions
    self.build_extension(ext)
  File "C:\Python\Python36-32\lib\distutils\command\build_ext.py", line 533, in
build_extension
    depends=ext.depends)
  File "C:\Python\Python36-32\lib\distutils\_msvccompiler.py", line 425, in comp
ile
    raise CompileError(msg)
distutils.errors.CompileError: command 'C:\\Program Files (x86)\\Microsoft Visua
l Studio\\2017\\BuildTools\\VC\\Tools\\MSVC\\14.15.26726\\bin\\HostX86\\x86\\cl.
exe' failed with exit status 2
jesdefer picture jesdefer on 22 Aug 2018

I'm having the same problem. Did you find a way to fix it?

RedTachyon picture RedTachyon on 9 Oct 2018

I am having that problem too. Anyone fixed?

kazimsanlav picture kazimsanlav on 12 Oct 2018

I'm having that problem too!!!

wotmd5731 picture wotmd5731 on 16 Oct 2018

Follow these steps to install on Windows:

mkdir %userprofile%\.mujoco

extract mjpro150_win64.zip in %userprofile%\.mujoco

Copy mjkey.txt %userprofile%\.mujoco\mjkey.txt
Copy mjkey.txt %userprofile%\.mujoco\mjpro150\bin\mjkey.txt

Activate your Python env in which you want to install.

SET PATH=%userprofile%\.mujoco\mjpro150\bin;%PATH%;

Install Microsoft Visual C++ Build Tools 2015: https://download.microsoft.com/download/5/f/7/5f7acaeb-8363-451f-9425-68a90f98b238/visualcppbuildtools_full.exe?fixForIE=.exe

Check Windows 8.1 SDK and Windows 10 SDK options

Use Visual C++ 2015 x64 Native Build Tools Command Prompt in C:\Program Files (x86)\Microsoft Visual C++ Build Tools - https://stackoverflow.com/a/45918595/7448860

cd "C:\Users\USER\Downloads\Compressed\mujoco-py-master"

pip install -r requirements.txt
pip install -r requirements.dev.txt
python setup.py install
聽
import mujoco_py

Enjoy!! :)

gtatiya picture gtatiya on 11 Dec 2018
👍13 🚀2

@iandanforth here you can find here the command window output:

C:\Users\USUARIO\Dropbox\TFM\Mujoco\mujoco-py>python examples\body_interaction.py
Traceback (most recent call last):
  File "examples\body_interaction.py", line 10, in <module>
    from mujoco_py import load_model_from_xml, MjSim, MjViewer
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\__init__.py", line 1, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, Mujoc
oException
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 468, in <module>
    cymj = load_cython_ext(mjpro_path)
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 78, in load_cython_ext
    "set %s=%s;%%%s%%" % (var, lib_path, var))
Exception: Please add mujoco library to your PATH:
set PATH=C:\Users\USUARIO\.mujoco\mjpro150\bin;%PATH%

C:\Users\USUARIO\Dropbox\TFM\Mujoco\mujoco-py>SET PATH=%userprofile%\.mujoco\mjp
ro150\bin;%PATH%;

C:\Users\USUARIO\Dropbox\TFM\Mujoco\mujoco-py>python examples\body_interaction.p
y
running build_ext
building 'mujoco_py.cymj' extension
C:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\VC\Tools\MSVC\14.
15.26726\bin\HostX86\x86\cl.exe /c /nologo /Ox /W3 /GL /DNDEBUG /MD -IC:\Python\
Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mujoco_py -IC:\Users
\USUARIO\.mujoco\mjpro150\include -IC:\Python\Python36-32\lib\site-packages\nump
y\core\include -IC:\Python\Python36-32\include -IC:\Python\Python36-32\include "
-IC:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\VC\Tools\MSVC\1
4.15.26726\include" /TcC:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.
56-py3.6.egg\mujoco_py\cymj.c /FoC:\Python\Python36-32\lib\site-packages\mujoco_
py-1.50.1.56-py3.6.egg\mujoco_py\generated\_pyxbld_1.50.1.56_36_windowsextension
builder\temp.win32-3.6\Release\Python\Python36-32\lib\site-packages\mujoco_py-1.
50.1.56-py3.6.egg\mujoco_py\cymj.obj -fopenmp -w
cl : L铆nea de comandos warning D9025 : invalidando '/W3' con '/w'
cl : L铆nea de comandos warning D9002 : se omite la opci贸n desconocida '-fopenmp'

cymj.c
c:\python\python36-32\include\pyconfig.h(59): fatal error C1083: No se puede abr
ir el archivo incluir: 'io.h': No such file or directory
Traceback (most recent call last):
  File "C:\Python\Python36-32\lib\distutils\_msvccompiler.py", line 423, in comp
ile
    self.spawn(args)
  File "C:\Python\Python36-32\lib\distutils\_msvccompiler.py", line 542, in spaw
n
    return super().spawn(cmd)
  File "C:\Python\Python36-32\lib\distutils\ccompiler.py", line 909, in spawn
    spawn(cmd, dry_run=self.dry_run)
  File "C:\Python\Python36-32\lib\distutils\spawn.py", line 38, in spawn
    _spawn_nt(cmd, search_path, dry_run=dry_run)
  File "C:\Python\Python36-32\lib\distutils\spawn.py", line 81, in _spawn_nt
    "command %r failed with exit status %d" % (cmd, rc))
distutils.errors.DistutilsExecError: command 'C:\\Program Files (x86)\\Microsoft
 Visual Studio\\2017\\BuildTools\\VC\\Tools\\MSVC\\14.15.26726\\bin\\HostX86\\x8
6\\cl.exe' failed with exit status 2

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "examples\body_interaction.py", line 10, in <module>
    from mujoco_py import load_model_from_xml, MjSim, MjViewer
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\__init__.py", line 1, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, Mujoc
oException
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 468, in <module>
    cymj = load_cython_ext(mjpro_path)
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 90, in load_cython_ext
    cext_so_path = builder.build()
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 202, in build
    built_so_file_path = self._build_impl()
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 225, in _build_impl
    dist.run_commands()
  File "C:\Python\Python36-32\lib\distutils\dist.py", line 955, in run_commands
    self.run_command(cmd)
  File "C:\Python\Python36-32\lib\distutils\dist.py", line 974, in run_command
    cmd_obj.run()
  File "C:\Python\Python36-32\lib\site-packages\Cython\Distutils\old_build_ext.p
y", line 186, in run
    _build_ext.build_ext.run(self)
  File "C:\Python\Python36-32\lib\distutils\command\build_ext.py", line 339, in
run
    self.build_extensions()
  File "C:\Python\Python36-32\lib\site-packages\mujoco_py-1.50.1.56-py3.6.egg\mu
joco_py\builder.py", line 125, in build_extensions
    build_ext.build_extensions(self)
  File "C:\Python\Python36-32\lib\site-packages\Cython\Distutils\old_build_ext.p
y", line 194, in build_extensions
    self.build_extension(ext)
  File "C:\Python\Python36-32\lib\distutils\command\build_ext.py", line 533, in
build_extension
    depends=ext.depends)
  File "C:\Python\Python36-32\lib\distutils\_msvccompiler.py", line 425, in comp
ile
    raise CompileError(msg)
distutils.errors.CompileError: command 'C:\\Program Files (x86)\\Microsoft Visua
l Studio\\2017\\BuildTools\\VC\\Tools\\MSVC\\14.15.26726\\bin\\HostX86\\x86\\cl.
exe' failed with exit status 2

I have the same error. I've tried the process many times, including the ones indicated in the comments. Does anybody nknow how can I solve it?

Rub22 picture Rub22 on 11 May 2020

^Requesting help to fix the above error.

ram-bhaskara picture ram-bhaskara on 17 Aug 2020

Here's what worked for me.

Background

Mujoco must be installed, working and with a valid key. I'll assume you've done that bit.

Mujoco-py uses cythonize to compile code. For that to work you need a working set of build tools. You might already have these if you have Visual Studio installed.

If you don't have visual studio installed (and don't want to install the giant IDE) you can download just the build tools and install them. (Note it will default to also installing the Windows SDK, but I didn't need that and it saved several GB of disk space by not including it during the install process)

Once that is installed you should have a new terminal installed called x64 Native Tools Command Prompt for VS 2017. You should be able to find and launch that from the windows menu.

Perform the rest of these commands in that window.

Install

Clone this repository and move into the directory.

git clone [email protected]:openai/mujoco-py.git
cd mujoco-py

Make sure your setup tools are up to date

python -m pip install --upgrade setuptools

Install both regular and dev dependencies for mujoco-py

pip install -r requirements.txt
pip install -r requirements.dev.txt

Now install mujoco-py

python setup.py install

If this completes successfully you should be able to run the examples

python examples\body_interaction.py

Troubleshooting

I had an old partially compiled version of mujoco_py in my pythonpath that was very confusing. I uninstalled mujoco-py and then had to _manually delete_ the mujoco-py directory from c:\users\<USER>\appdata\local\programs\python\python36\lib\site-packages

I was then able to follow the above.

Mis-configured versions of Visual Studio may also cause problems as would an out-of-date setuptools.

hi! when i type "pip install -r requirements.txt" this command, it appears "ERROR: Could not open requirements file:". so i find another approach. "pip freeze > requirements.txt" should be first typed. however, the another error "refuse to access" appears.
i've changed the permission of the directory.
Does anybody know how can I solve it? need help

ppan99 picture ppan99 on 20 Dec 2020

i am having same problem

kapilrathore42 picture kapilrathore42 on 14 Apr 2021
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