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 two different OpenGL rendering backends: GLFW (hardware-based) and OSMesa (software-based). At least one of these two backends must be available in order to use the bindings.

• Hardware rendering requires 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. Note: hardware rendering is not supported on headless machines.

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

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.