From 804443ebc475a0ab053249164a51932baada06eb Mon Sep 17 00:00:00 2001
From: buoyancy99 <buoyuan99@gmail.com>
Date: Tue, 20 Oct 2020 16:19:18 -0700
Subject: [PATCH] include building gpu rendering extension in README

---
 README.md | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/README.md b/README.md
index dc17bc6d..901d300f 100644
--- a/README.md
+++ b/README.md
@@ -66,6 +66,28 @@ print(sim.data.qpos)
 #  -2.22862221e-05]
 ```
 
+### Install `mujoco-py` with headless gpu rendering
+You may perform additional steps to build `mujoco-py` with gpu rendering support on a remote server without any monitor attached. 
+
+First, check whether mujoco_py has already been built with headless gpu rendering
+```
+$ python3
+import mujoco_py
+print('gpu' in str(mujoco_py.cymj).split('/')[-1])
+```
+If the output is `False`, you may perform the steps below to build gpu extension 
+
+```
+$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia-000
+$ sudo mkdir -p /usr/lib/nvidia-000
+$ python3
+import mujoco_py
+print('gpu' in str(mujoco_py.cymj).split('/')[-1])
+# True
+```
+
+
+
 See the [full documentation](https://openai.github.io/mujoco-py/build/html/index.html) for advanced usage.
 
 ## Troubleshooting