dm_control: The DeepMind Control Suite and Package

This package contains:

• dm_control.mjcf: A library for composing and modifying MuJoCo MJCF models in Python.

• dm_control.mujoco: Libraries that provide Python bindings to the MuJoCo physics engine.

• dm_control.suite: A set of Python Reinforcement Learning environments powered by the MuJoCo physics engine.

• dm_control.viewer: An interactive environment viewer.

If you use this package, please cite our accompanying tech report.

Installation and requirements

Follow these steps to install dm_control:

1. Download MuJoCo Pro 2.00 from the download page on the MuJoCo website. MuJoCo Pro must be installed before dm_control, since dm_control's install script generates Python ctypes bindings based on MuJoCo's header files. By default, dm_control assumes that the MuJoCo Zip archive is extracted as ~/.mujoco/mujoco200_$PLATFORM where $PLATFORM is either linux, win64, or macos.

2. Install the dm_control Python package by running pip install git+git://github.com/deepmind/dm_control.git (PyPI package coming soon) or by cloning the repository and running pip install /path/to/dm_control/. We recommend pip installing into a virtualenv, or with the --user flag to avoid interfering with system packages. At installation time, dm_control looks for the MuJoCo headers from Step 1 in ~/.mujoco/mujoco200_$PLATFORM/include, however this path can be configured with the headers-dir command line argument.

3. Install a license key for MuJoCo, required by dm_control at runtime. See the MuJoCo license key page for further details. By default, dm_control looks for the MuJoCo license key file at ~/.mujoco/mjkey.txt.

4. If the license key (e.g. mjkey.txt) or the shared library provided by MuJoCo Pro (e.g. libmujoco200.so or libmujoco200.dylib) are installed at non-default paths, specify their locations using the MJKEY_PATH and MJLIB_PATH environment variables respectively.

Additional instructions for Linux

The MuJoCo Python bindings support three different OpenGL rendering backends: EGL (headless, hardware-accelerated), GLFW (windowed, hardware-accelerated), and OSMesa (purely software-based). At least one of these three backends must be available in order render through dm_control.

• "Headless" hardware rendering (i.e. without a windowing system such as X11) requires EXT_platform_device support in the EGL driver. Recent Nvidia drivers support this. You will also need GLEW. On Debian and Ubuntu, this can be installed via sudo apt-get install libglew2.0.

• Hardware rendering with a windowing system is also supported via GLFW and GLEW, which can be installed via your Linux distribution's package manager. For example, on Debian and Ubuntu, this can be done by running sudo apt-get install libglfw3 libglew2.0.

• Software rendering requires GLX and OSMesa. On Debian and Ubuntu these can be installed using sudo apt-get install libgl1-mesa-glx libosmesa6.

By default, dm_control will attempt to use EGL first, then GLFW, then OSMesa. You can also specify a particular backend to use by setting the MUJOCO_GL= environment variable to "egl", "glfw", or "osmesa", respectively.

Additional instructions for Homebrew users on macOS

1. The above instructions using pip should work, provided that you use a Python interpreter that is installed by Homebrew (rather than the system-default one).

2. Before running, the DYLD_LIBRARY_PATH environment variable needs to be updated with the path to the GLFW library. This can be done by running export DYLD_LIBRARY_PATH=$(brew --prefix)/lib:$DYLD_LIBRARY_PATH.