Mujoco setup

For (optional) Mujoco / D4RL support, you will also need additional pre-reqs. You'll need some non-Python pre-reqs:

Ensure a local Mujoco installed (see here for installation details), you'll need ~/.mujoco/mujoco200 and ~/.mujoco/mjkey.txt
sudo apt-get install libosmesa6-dev
Install patchelf, for example with these few commands.

And then Python packages:

pip install mujoco_py==2.0.2.5

git clone https://github.com/rail-berkeley/d4rl.git
cd d4rl
# edit the setup.py file as here: https://github.com/rail-berkeley/d4rl/pull/126
pip install -e .

Note in our case we needed some symlinks as follows to make various packages happy: cd ~/.mujoco && sudo ln -s mujoco200_linux mujoco200).