robosuite officially supports macOS and Linux on Python 3. It can be run with an on-screen display for visualization or in a headless mode for model training, with or without a GPU.

The base installation requires the MuJoCo physics engine (with mujoco, refer to link for troubleshooting the installation and further instructions) and numpy. To avoid interfering with system packages, it is recommended to install it under a virtual environment by first running virtualenv -p python3 . && source bin/activate or setting up a Conda environment by installing Anaconda and running conda create -n robosuite python=3.8.

Install from pip#

  1. After setting up mujoco, robosuite can be installed with

    $ pip install robosuite
  2. Test your installation with

    $ python -m robosuite.demos.demo_random_action

Install from source#

  1. Clone the robosuite repository

    $ git clone
    $ cd robosuite
  2. Install the base requirements with

    $ pip3 install -r requirements.txt

    This will also install our library as an editable package, such that local changes will be reflected elsewhere without having to reinstall the package.

  3. (Optional) We also provide add-on functionalities, such as OpenAI Gym interfaces, inverse kinematics controllers powered by PyBullet, and teleoperation with SpaceMouse devices. To enable these additional features, please install the extra dependencies by running

    $ pip3 install -r requirements-extra.txt
  4. Test your installation with

    $ python robosuite/demos/