🛠️ Installation Guide¶

System Requirements¶

Dependency	Version Requirement
Python	>= 3.10 (recommended 3.12)
pip	>= 21.0
Operating System	Ubuntu 20.04+ / Windows 10+ / macOS 12+

Install from PyPI (Recommended)¶

# Install the core package
pip install orca-gym

# Or install with optional dependencies
pip install orca-gym[rl]          # Reinforcement learning training (Stable-Baselines3, etc.)
pip install orca-gym[imitation]   # Imitation learning
pip install orca-gym[devices]     # Input device support
pip install orca-gym[sensors]     # Cameras and sensors
pip install orca-gym[all]         # All optional dependencies

Optional Dependencies¶

Group	Contents	Use Case
`[rl]`	stable-baselines3, sb3_contrib, tensorboard	RL training
`[imitation]`	h5py, opencv-python, tqdm	Imitation learning
`[robomimic]`	h5py, termcolor, opencv-python	robomimic toolchain
`[devices]`	pygame	Gamepad/keyboard control
`[sensors]`	opencv-python, av, websockets, matplotlib, pillow	Camera vision

Configure OrcaStudio / OrcaLab¶

Download and install OrcaStudio or OrcaLab to access:

Visual scene editing
Remote simulation service
Multi-physics backend support

Verify the Installation¶

# Check import
python -c "import orca_gym; print('OrcaGym installed successfully!')"

# Check the version
pip show orca-gym

Common Installation Issues¶

Issue: MuJoCo import failure¶

# Ensure mujoco is installed (version pinned to match orca-gym)
pip install mujoco==3.7.0

# Linux users may need to install additional system dependencies
# Note: the libglew package name varies by Ubuntu version:
#   - Ubuntu 22.04+: libglew2.2
#   - Ubuntu 20.04: libglew2.1
sudo apt-get install libglfw3 libglew2.2 libosmesa6

Issue: gRPC version conflict¶

# Reinstall
pip install grpcio grpcio-tools --force-reinstall

Issue: mesh/hfield resource download failure¶

This is expected behavior — mesh and texture files are downloaded on demand when the simulation first starts. Just ensure a stable network connection.