Getting Started: Windows 10 Users

Robosuite and Windows 10

robosuite has a core dependency on mujoco-py > 2.0 and mujoco200

Unfortunately, the last supported version for Windows is 1.5.0; however, mujoco-py > 2.0 can be made to work with Windows with minimal changes. In this guide, we provide steps for installing robosuite 1.0 with Windows 10.

Note: robosuite does not officially support Windows 10 - these steps are a workaround if you have no other alternatives

Installing mujoco-py

First, we need to install mujoco-py >= 2.0. The official recommended version is 2.0.2.9; however, at the time of writing, the releases for mujoco-py contain only 2.0.2.5, so this guide is written with that version in mind.

1. Clone mujoco-py from Github or download and unzip 2.0.2.5 from releases

2. Get mujoco200, a license, and set these up according to (http://www.mujoco.org/)

3. Before installing mujoco-py through pip, you must change mujoco_py\cymj.pyx. mujoco-py > 2.0 uses delete=True in tempfile.NamedTemporaryFile in load_model_from_xml around line 178, which will not work with Windows, yielding [Errno 13] permission denied. To fix this, change the delete=False keyword and unindent the line with model = ... (189) alternatively, copy the load_model_from_xml code from mujoco-py==1.5.0 which is known to be stable for Windows

Source	Modified

4. [Optional] Since mujoco-py uses cythonize, you may need to install additional build tools to compile mujoco-py from source. You can get these from visual studio code Note: You should be able to install without the Windows SDK if you want to save space This should give you a new terminal, x64 Native Tools Command Prompt for VS 2017 which you should use for the next step. See this thread for more help

5. Install mujoco-py by using pip install -e . --no_cache in the top level directory of mujoco-py. After this step, you should verify that you can run mujoco-py.

Installing robosuite

1. Clone robosuite from github or download release version 1.0

2. [Optional] remove mentions of mujoco-py from requirements.txt and setup.py (I had to do this as my version was 2.02.5 which was < 2.0.2.9, the version specified in robosuite, but if your version is equal it won't be required)

3. Install robosuite using pip install -e . in the top level directory

4. [Optional] Run one of the demo scripts to validate robosuite is working - I had to install a few more dependencies as a result of chancing requirements.txt and setup.py, but the error messages were descriptive enough that I just pip install <missing dependency>

Conclusion

As mentioned, this is a work around, and Windows 10 is not officially supported by the project - as such it is not guaranteed that this will work on future versions of mujoco-py or robosuite. For best results you should use a clean environment

Good luck :)