diff --git a/Dockerfile b/Dockerfile
index d07ec0b..73b4834 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -34,6 +34,7 @@ ENV NUMBA_CACHE_DIR=/tmp
 # dmc setup
 RUN pip3 install tensorboard
 RUN pip3 install gym==0.19.0
+RUN pip3 install mujoco==2.3.5
 RUN pip3 install dm_control==1.0.9
 RUN pip3 install moviepy
 
diff --git a/requirements.txt b/requirements.txt
index bee6f73..e9797d4 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -8,6 +8,7 @@ moviepy==1.0.3
 einops==0.3.0
 protobuf==3.20.0
 gym==0.19.0
+mujoco==2.3.5
 dm_control==1.0.9
 scipy==1.8.0
 memory_maze==1.0.3