diff --git a/requirements.txt b/requirements.txt
index 2f287f782..a0acd71d3 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -8,6 +8,7 @@
  einops==0.4.1
  thop==0.1.1-2209072238
  robosuite==1.4.0
+ mujoco==3.3.2
  bddl==1.0.1
  future==0.18.2 
  matplotlib==3.5.3