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‎CONTRIBUTING.md

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# How to Contribute
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We'd love to accept your patches and contributions to this project. There are
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just a few small guidelines you need to follow.
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## Contributor License Agreement
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Contributions to this project must be accompanied by a Contributor License
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Agreement. You (or your employer) retain the copyright to your contribution,
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this simply gives us permission to use and redistribute your contributions as
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part of the project. Head over to <https://cla.developers.google.com/> to see
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your current agreements on file or to sign a new one.
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You generally only need to submit a CLA once, so if you've already submitted one
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(even if it was for a different project), you probably don't need to do it
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again.
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## Code reviews
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All submissions, including submissions by project members, require review. We
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use GitHub pull requests for this purpose. Consult
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[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
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information on using pull requests.

‎LICENSE

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Apache License
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‎README.md

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# `dm_control`: The DeepMind Control Suite and Control Package
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# ![all domains](all_domains.png)
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This package contains:
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- A set of Python Reinforcement Learning environments powered by the MuJoCo
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physics engine. See the `suite` subdirectory.
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- Libraries that provide Python bindings to the MuJoCo physics engine.
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If you use this package, please cite our accompanying accompanying [tech report](tech_report.pdf).
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## Installation and requirements
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Follow these steps to install `dm_control`:
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1. Download MuJoCo Pro 1.50 from the download page on the [MuJoCo website](http://www.mujoco.org/).
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MuJoCo Pro must be installed before `dm_control`, since `dm_control`'s
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install script generates Python [`ctypes`](https://docs.python.org/2/library/ctypes.html)
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bindings based on MuJoCo's header files. By default, `dm_control` assumes
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that the MuJoCo Zip archive is extracted as `~/.mujoco/mjpro150`.
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2. Install the `dm_control` Python package by running
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`pip install git+git://github.com/deepmind/dm_control.git`
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(PyPI package coming soon) or by cloning the repository and running
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`pip install /path/to/dm_control/`
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At installation time, `dm_control` looks for the MuJoCo headers from Step 1
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in `~/.mujoco/mjpro150/include`, however this path can be configured with the
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`headers-dir` command line argument.
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3. Install a license key for MuJoCo, required by `dm_control` at runtime. See
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the [MuJoCo license key page](https://www.roboti.us/license.html) for further
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details. By default, `dm_control` looks for the MuJoCo license key file at
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`~/.mujoco/mjkey.txt`.
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4. If the license key (e.g. `mjkey.txt`) or the shared library provided by
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MuJoCo Pro (e.g. `libmujoco150.so` or `libmujoco150.dylib`) are installed at
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non-default paths, specify their locations using the `MJKEY_PATH` and
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`MJLIB_PATH` environment variables respectively.
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## Additional instructions for Homebrew users on macOS
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1. The above instructions using `pip` should work, provided that you
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use a Python interpreter that is installed by Homebrew (rather than the
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system-default one).
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2. To get OpenGL working, install the `glfw` package from Homebrew by running
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`brew install glfw`.
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3. Before running, the `DYLD_LIBRARY_PATH` environment variable needs to be
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updated with the path to the GLFW library. This can be done by running
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`export DYLD_LIBRARY_PATH=$(brew --prefix)/lib:$DYLD_LIBRARY_PATH`.
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## Control Suite quickstart
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```python
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from dm_control import suite
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# Load one task:
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env = suite.load(domain_name="cartpole", task_name="swingup")
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# Iterate over a task set:
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for domain_name, task_name in suite.BENCHMARKING:
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env = suite.load(domain_name, task_name)
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# Step through an episode and print out reward, discount and observation.
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action_spec = env.action_spec()
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time_step = env.reset()
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while not time_step.last():
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action = np.random.uniform(action_spec.minimum,
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action_spec.maximum,
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size=action_spec.shape)
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time_step = env.step(action)
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print(time_step.reward, time_step.discount, time_step.observation)
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```
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See our [tech report](tech_report.pdf) for further details.
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## Illustration video
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Below is a video montage of solved Control Suite tasks, with reward
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visualisation enabled.
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[![Video montage](https://img.youtube.com/vi/rAai4QzcYbs/0.jpg)](https://www.youtube.com/watch?v=rAai4QzcYbs)

‎all_domains.png

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‎dm_control/__init__.py

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# Copyright 2017 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================

‎dm_control/autowrap/__init__.py

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# Copyright 2017 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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