Support MuJoCo 1.5

[jeffkaufman]

In order to use MuJoCo on a recent mac, you need to be using MuJoCo 1.5: openai/mujoco-py#36 Otherwise you get:

>>> import mujoco_py
ERROR: Could not open disk

This is because MuJoCo before 1.5 doesn't support NVMe disks.

Gym depends on MuJoCo via mujoco-py, which just released support for MuJoCo 1.5.

It looks like maybe this is something you're already working on? Or would it be useful for me to look into fixing it?

[jeffkaufman]

One tricky thing here is that gym supports python 2 and 3, but mujoco-py 1.50 only supports python 3

[7kbird]

I try to fix the MujocoEnv and find it cost more time than expected.

In mujoco_py 1.50:

• mujoco_py.MjModel is split into MjSim and PyMjModel. Since MujocoEnv.model is used by all mujoco envs, there may be lot of modification.
• mujoco_py.mjlib.mjlib is renamed to 'mujoco_py.functions'
• mujoco_py.MjViewer do not have start/finish API

I try modify MujocoEnv.__init__:

# From
self.model = mujoco_py.MjModel(fullpath)
# To
self.sim = mujoco_py.MjSim(mujoco_py.load_model_from_path(fullpath))
self.model = self.sim.model

still not work, because all other envs use self.model.data and the new PyMjModel do not hold the data. Also find shape of model.body_mass in humanoid is (14,) which is not same with (14,1) in mujoco_py 0.5 and result in numpy errors. Don't known how many other compatibility issues, I have to go back to mujoko_py 0.5 to finish my work first.

Any update is appreciated.

[classicCoder16]

Agreed -- would be great to have support for 1.5!

[geyang]

I'm running into this error: the mujoco_py library is installed from git master, in v1.50 mujoco_py does not have the mjlib module.

Traceback (most recent call last):
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/mujoco/mujoco_env.py", line 12, in <module>
    from mujoco_py.mjlib import mjlib
ImportError: No module named 'mujoco_py.mjlib'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/ubuntu/projects/reinforcement learning learning notes/berkeley deep RL course/hw1/run_expert.py", line 75, in <module>
    main()
  File "/home/ubuntu/projects/reinforcement learning learning notes/berkeley deep RL course/hw1/run_expert.py", line 41, in main
    env = gym.make(args.envname)
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/registration.py", line 161, in make
    return registry.make(id)
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/registration.py", line 119, in make
    env = spec.make()
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/registration.py", line 85, in make
    cls = load(self._entry_point)
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/registration.py", line 17, in load
    result = entry_point.load(False)
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/setuptools-27.2.0-py3.5.egg/pkg_resources/__init__.py", line 2258, in load
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/setuptools-27.2.0-py3.5.egg/pkg_resources/__init__.py", line 2264, in resolve
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/mujoco/__init__.py", line 1, in <module>
    from gym.envs.mujoco.mujoco_env import MujocoEnv
  File "/home/ubuntu/.conda/envs/gym/lib/python3.5/site-packages/gym-0.9.2-py3.5.egg/gym/envs/mujoco/mujoco_env.py", line 14, in <module>
    raise error.DependencyNotInstalled("{}. (HINT: you need to install mujoco_py, and also perform the setup instructions here: https://github.com/openai/mujoco-py/.)".format(e))
gym.error.DependencyNotInstalled: No module named 'mujoco_py.mjlib'. (HINT: you need to install mujoco_py, and also perform the setup instructions here: https://github.com/openai/mujoco-py/.)

[jeffkaufman]

@episodeyang it looks like you're trying to just drop in 1.5 in place of 1.3? That's not going to work; there are a bunch of changes between 1.3 and 1.5 including the mjlib one you're getting

[geyang]

@jeffkaufman Yeah thanks! I'm on ubuntu so I could revert back to 1.3.

Do I need to use both mujoco1.3 as well as mujoco_py.1.3? and if so do you know which mujoco_py1.3 version should I use?

Thanks!

[vitchyr]

@episodeyang I don't know about 1.3, but mujoco_py version 0.5.7 worked for me with Mujoco131.

[weiliu620]

When I set the variableMUJOCO_PY_MJPRO_PATH to mjpro150, I got the following error when import mujoco_py:

MujocoDependencyError: We expected your MUJOCO_PY_MJPRO_PATH final directory to be 'mjpro131', but you provided:  (/Users/weiliu/.mujoco/mjpro150/). MuJoCo often changes in incompatible ways between versions, so you must use MuJoCo 1.31. If you're using MuJoCo 1.31 but changed the directory name, simply change the name back.

I'm on OS X 10.12, Anaconda python 3.5. Have downloaded mujoco 150.

[vBarbaros]

@weiliu620 so, it's exactly what it says - you need to download mujoco 131 instead of 150

[weiliu620]

@vBarbaros Thanks. But I also have the "Could not open disk" error when I downgraded to 1.3.

On OS X 10.12, does Mujoco_py support 1.5 or not currently?

[viral612]

I am trying to use mujoco with openAI gym on MAC.
I am supposed to use 1.31 version. What version of mujoco-py needs to be installed.
By default pip install mujoco-py is getting me 1.50. Pls suggest.