Installation

Using pipIn editable model for developmentUsing DockerOnline using Google Colab

Virtual Environments

We recommend that you create a virtual environment (using venv, Conda, uv, Poetry, etc.).

FlyGym is published on the Python Package Index (PyPI). You can use FlyGym using pip directly. If you only care about the basic functionalities:

pip install flygym

Add the warp optional dependency if you want to use fly.warp with GPU acceleration:

pip install flygym[warp]

Add the examples optional dependency if you want to follow the tutorials:

pip install flygym[examples]

You can combine multiple optional dependencies in one command. For example:

pip install flygym[warp,examples]

FlyGym uses uv for package management. Install uv following its official documentation.

Clone the FlyGym repository:

git clone git@github.com:NeLy-EPFL/flygym.git
cd flygym

Then install using uv. The following installs all optional dependencies, but you can

• remove --extra warp if you don't care for GPU acceleration, or if you don't have a NVIDIA GPU (e.g., you're on a Mac),
• remove --extra dev if you don't care for development tools (e.g., unit testing, automatic doc generation), or
• remove --extra examples if you don't care for running the tutorials.

uv sync --extra warp --extra dev --extra examples

Note

Developers should also install the nbstripout filter, which removes bulky Jupyter Notebook outputs upon git add (without touching the actual files—the outputs are only removed in the version-controled files). Note that this does not integrate well with IDEs, so you should run git add <files> in command line instead of using, for example, the GUI in VS Code.

source .venv/bin/activate
nbstripout --install --attributes .gitattributes

Forthcoming.

Forthcoming.

Special notes for rendering on machines without a display

If you are using a machine without a display (e.g. a server), you will need to change the renderer to EGL (see this link for details). This requires setting the following environment variables before running FlyGym:

export MUJOCO_GL=egl
export PYOPENGL_PLATFORM=egl

If you want to change this setting by default, you can add the two lines above to the end of your .bashrc file.

If you are using a Conda environment, you can change the environment variables as follows (replacing my-env-name accordingly), and then re-activate the environment:

conda activate my-env-name
conda env config vars set MUJOCO_GL=egl PYOPENGL_PLATFORM=egl

You might need to install EGL-related dependencies on your machine. For example, on some Ubuntu/Debian systems, you might need to install the following:

apt-get install libegl1-mesa-dev