dm_control
: The DeepMind Control Suite and Package
This package consists of the following "core" components:
-
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.
Additionally, the following components are available for the creation of more complex control tasks:
-
dm_control.mjcf
: A library for composing and modifying MuJoCo MJCF models in Python. -
dm_control.composer
: A library for defining rich RL environments from reusable, self-contained components. -
dm_control.locomotion
: Additional libraries for custom tasks. -
dm_control.locomotion.soccer
: Multi-agent soccer tasks.
If you use this package, please cite our accompanying tech report:
@techreport{deepmindcontrolsuite2018,
title = {Deep{Mind} Control Suite},
author = {Yuval Tassa and Yotam Doron and Alistair Muldal and Tom Erez
and Yazhe Li and Diego de Las Casas and David Budden and Abbas
Abdolmaleki and Josh Merel and Andrew Lefrancq and Timothy Lillicrap
and Martin Riedmiller},
year = 2018,
month = jan,
howpublished = {https://arxiv.org/abs/1801.00690},
url = {https://arxiv.org/abs/1801.00690},
volume = {abs/1504.04804},
institution = {DeepMind},
}
Requirements and Installation
dm_control
is regularly tested using the following platforms and Python
versions:
Python 2.7 | Python 3.5 | |
---|---|---|
Ubuntu 14.04 | ✓ | ✓ |
Ubuntu 16.04 | ✓ |
Various people have been successful in getting dm_control
to work on other
Linux distros, OS X, and Windows. We do not provide active support for these,
but will endeavour to answer questions on a best-effort basis.
Follow these steps to install dm_control
:
-
Download MuJoCo Pro 2.00 from the download page on the MuJoCo website. MuJoCo Pro must be installed before
dm_control
, sincedm_control
's install script generates Pythonctypes
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 eitherlinux
,win64
, ormacos
. -
Install the
dm_control
Python package by runningpip install git+git://github.com/deepmind/dm_control.git
(PyPI package coming soon) or by cloning the repository and runningpip install /path/to/dm_control/
. We recommendpip install
ing into avirtualenv
, 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 theheaders-dir
command line argument. -
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
. -
If the license key (e.g.
mjkey.txt
) or the shared library provided by MuJoCo Pro (e.g.libmujoco200.so
orlibmujoco200.dylib
) are installed at non-default paths, specify their locations using theMJKEY_PATH
andMJLIB_PATH
environment variables respectively.
Rendering
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
.
-
Hardware rendering with a windowing system is supported via GLFW and GLEW. On Linux these can be installed using your distribution's package manager. For example, on Debian and Ubuntu, this can be done by running
sudo apt-get install libglfw3 libglew2.0
. Please note that:dm_control.viewer
can only be used with GLFW.- GLFW will not work on headless machines.
-
"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
. -
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 GLFW first, then EGL, then OSMesa.
You can also specify a particular backend to use by setting the MUJOCO_GL=
environment variable to "glfw"
, "egl"
, or "osmesa"
, respectively.
Additional instructions for Homebrew users on macOS
-
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). -
Before running, the
DYLD_LIBRARY_PATH
environment variable needs to be updated with the path to the GLFW library. This can be done by runningexport DYLD_LIBRARY_PATH=$(brew --prefix)/lib:$DYLD_LIBRARY_PATH
.