openenv/pr_814/en/_app/immutable/nodes/15.bc3ffca4.js

import{s as Wt,n as zt,o as Xt}from"../chunks/scheduler.2b22cead.js";import{S as Lt,i as Dt,e as M,s,c as p,h as qt,a as y,d as l,b as a,f as Ht,g as i,j as u,k as Zt,l as Ot,m as n,n as r,t as o,o as c,p as m}from"../chunks/index.1a0e8013.js";import{C as Pt,H as d,E as Kt}from"../chunks/MermaidChart.svelte_svelte_type_style_lang.bc7b309e.js";import{C as T}from"../chunks/CodeBlock.6c8835fe.js";function te(kt){let h,P,q,K,J,tt,b,et,U,Vt='A generic OpenEnv environment for <a href="https://github.com/google-deepmind/dm_control" rel="nofollow">dm_control.suite</a>, providing access to all MuJoCo-based continuous control tasks.',lt,w,Nt='<img src="https://raw.githubusercontent.com/huggingface/OpenEnv/main/envs/dm_control_env/assets/cartpole.png" width="45%" alt="Cartpole Balance"/> <img src="https://raw.githubusercontent.com/huggingface/OpenEnv/main/envs/dm_control_env/assets/quadruped.png" width="45%" alt="Quadruped Walk"/>',nt,j,st,$,Rt="<thead><tr><th>Domain</th> <th>Tasks</th></tr></thead> <tbody><tr><td>cartpole</td> <td>balance, swingup, swingup_sparse</td></tr> <tr><td>walker</td> <td>stand, walk, run</td></tr> <tr><td>humanoid</td> <td>stand, walk, run</td></tr> <tr><td>cheetah</td> <td>run</td></tr> <tr><td>hopper</td> <td>stand, hop</td></tr> <tr><td>reacher</td> <td>easy, hard</td></tr> <tr><td>pendulum</td> <td>swingup</td></tr> <tr><td>finger</td> <td>spin, turn_easy, turn_hard</td></tr> <tr><td>fish</td> <td>upright, swim</td></tr> <tr><td>ball_in_cup</td> <td>catch</td></tr> <tr><td>And more…</td> <td>See <code>dm_control.suite.BENCHMARKING</code></td></tr></tbody>",at,f,pt,v,it,g,rt,C,ot,I,ct,B,mt,E,dt,_,Mt,G,yt,Z,ht,k,ut,V,wt,N,St="Action dimensions vary by environment:",Tt,R,Qt="<li>cartpole: 1 (force on cart)</li> <li>walker: 6 (joint torques)</li> <li>humanoid: 21 (joint torques)</li>",Jt,S,bt,Q,Ut,x,jt,A,$t,Y,ft,F,xt="See the <code>examples/</code> directory:",vt,H,At="<li><code>cartpole_control.py</code> - Interactive cartpole control with arrow keys</li> <li><code>hopper_control.py</code> - Interactive hopper control with spacebar for random forces</li> <li><code>quadruped_control.py</code> - Interactive quadruped control with spacebar for random forces</li> <li><code>list_environments.py</code> - Print all available environments</li>",gt,W,Yt="All examples support consistent CLI arguments:",Ct,z,It,X,Bt,L,Ft="<thead><tr><th>Variable</th> <th>Default</th> <th>Description</th></tr></thead> <tbody><tr><td><code>DMCONTROL_DOMAIN</code></td> <td>cartpole</td> <td>Default domain</td></tr> <tr><td><code>DMCONTROL_TASK</code></td> <td>balance</td> <td>Default task</td></tr> <tr><td><code>DMCONTROL_RENDER_HEIGHT</code></td> <td>480</td> <td>Render height</td></tr> <tr><td><code>DMCONTROL_RENDER_WIDTH</code></td> <td>640</td> <td>Render width</td></tr></tbody>",Et,D,_t,O,Gt;return J=new Pt({props:{containerStyle:"float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"}}),b=new d({props:{title:"dm_control OpenEnv Environment",local:"dmcontrol-openenv-environment",headingTag:"h1"}}),j=new d({props:{title:"Supported Environments",local:"supported-environments",headingTag:"h2"}}),f=new d({props:{title:"Quick Start",local:"quick-start",headingTag:"h2"}}),v=new d({props:{title:"Using the Client",local:"using-the-client",headingTag:"h3"}}),g=new T({props:{code:"ZnJvbSUyMGVudnMuZG1fY29udHJvbF9lbnYlMjBpbXBvcnQlMjBETUNvbnRyb2xFbnYlMkMlMjBETUNvbnRyb2xBY3Rpb24lMEElMEElMjMlMjBDb25uZWN0JTIwdG8lMjBhJTIwcnVubmluZyUyMHNlcnZlciUwQXdpdGglMjBETUNvbnRyb2xFbnYoYmFzZV91cmwlM0QlMjJodHRwJTNBJTJGJTJGbG9jYWxob3N0JTNBODAwMCUyMiklMjBhcyUyMGVudiUzQSUwQSUyMCUyMCUyMCUyMCUyMyUyMFJlc2V0JTIwd2l0aCUyMGRlZmF1bHQlMjAoY2FydHBvbGUlMkZiYWxhbmNlKSUwQSUyMCUyMCUyMCUyMHJlc3VsdCUyMCUzRCUyMGVudi5yZXNldCgpJTBBJTIwJTIwJTIwJTIwcHJpbnQoZiUyMk9ic2VydmF0aW9ucyUzQSUyMCU3QnJlc3VsdC5vYnNlcnZhdGlvbi5vYnNlcnZhdGlvbnMua2V5cygpJTdEJTIyKSUwQSUwQSUyMCUyMCUyMCUyMCUyMyUyMFRha2UlMjBhY3Rpb25zJTBBJTIwJTIwJTIwJTIwZm9yJTIwXyUyMGluJTIwcmFuZ2UoMTAwKSUzQSUwQSUyMCUyMCUyMCUyMCUyMCUyMCUyMCUyMGFjdGlvbiUyMCUzRCUyMERNQ29udHJvbEFjdGlvbih2YWx1ZXMlM0QlNUIwLjUlNUQpJTIwJTIwJTIzJTIwUHVzaCUyMGNhcnQlMjByaWdodCUwQSUyMCUyMCUyMCUyMCUyMCUyMCUyMCUyMHJlc3VsdCUyMCUzRCUyMGVudi5zdGVwKGFjdGlvbiklMEElMjAlMjAlMjAlMjAlMjAlMjAlMjAlMjBwcmludChmJTIyUmV3YXJkJTNBJTIwJTdCcmVzdWx0LnJld2FyZCU3RCUyQyUyMERvbmUlM0ElMjAlN0JyZXN1bHQuZG9uZSU3RCUyMiklMEElMEElMjAlMjAlMjAlMjAlMjAlMjAlMjAlMjBpZiUyMHJlc3VsdC5kb25lJTNBJTBBJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwJTIwcmVzdWx0JTIwJTNEJTIwZW52LnJlc2V0KCk=",highlighted:`<span class="hljs-keyword">from</span> envs.dm_control_env <span class="hljs-keyword">import</span> DMControlEnv, DMControlAction

<span class="hljs-comment"># Connect to a running server</span>
<span class="hljs-keyword">with</span> DMControlEnv(base_url=<span class="hljs-string">&quot;http://localhost:8000&quot;</span>) <span class="hljs-keyword">as</span> env:
    <span class="hljs-comment"># Reset with default (cartpole/balance)</span>
    result = env.reset()
    <span class="hljs-built_in">print</span>(<span class="hljs-string">f&quot;Observations: <span class="hljs-subst">{result.observation.observations.keys()}</span>&quot;</span>)

    <span class="hljs-comment"># Take actions</span>
    <span class="hljs-keyword">for</span> _ <span class="hljs-keyword">in</span> <span class="hljs-built_in">range</span>(<span class="hljs-number">100</span>):
        action = DMControlAction(values=[<span class="hljs-number">0.5</span>])  <span class="hljs-comment"># Push cart right</span>
        result = env.step(action)
        <span class="hljs-built_in">print</span>(<span class="hljs-string">f&quot;Reward: <span class="hljs-subst">{result.reward}</span>, Done: <span class="hljs-subst">{result.done}</span>&quot;</span>)

        <span class="hljs-keyword">if</span> result.done:
            result = env.reset()`,lang:"python",wrap:!1}}),C=new d({props:{title:"Switching Environments",local:"switching-environments",headingTag:"h3"}}),I=new T({props:{code:"JTIzJTIwU3RhcnQlMjB3aXRoJTIwY2FydHBvbGUlMEFyZXN1bHQlMjAlM0QlMjBlbnYucmVzZXQoZG9tYWluX25hbWUlM0QlMjJjYXJ0cG9sZSUyMiUyQyUyMHRhc2tfbmFtZSUzRCUyMmJhbGFuY2UlMjIpJTBBJTBBJTIzJTIwU3dpdGNoJTIwdG8lMjB3YWxrZXIlMjAob24lMjBuZXh0JTIwcmVzZXQpJTBBcmVzdWx0JTIwJTNEJTIwZW52LnJlc2V0KGRvbWFpbl9uYW1lJTNEJTIyd2Fsa2VyJTIyJTJDJTIwdGFza19uYW1lJTNEJTIyd2FsayUyMiklMEElMjMlMjBOb3RlJTNBJTIwd2Fsa2VyJTIwaGFzJTIwNiUyMGFjdGlvbiUyMGRpbWVuc2lvbnMlMEFhY3Rpb24lMjAlM0QlMjBETUNvbnRyb2xBY3Rpb24odmFsdWVzJTNEJTVCMC4wJTVEJTIwKiUyMDYpJTBBcmVzdWx0JTIwJTNEJTIwZW52LnN0ZXAoYWN0aW9uKQ==",highlighted:`<span class="hljs-comment"># Start with cartpole</span>
result = env.reset(domain_name=<span class="hljs-string">&quot;cartpole&quot;</span>, task_name=<span class="hljs-string">&quot;balance&quot;</span>)

<span class="hljs-comment"># Switch to walker (on next reset)</span>
result = env.reset(domain_name=<span class="hljs-string">&quot;walker&quot;</span>, task_name=<span class="hljs-string">&quot;walk&quot;</span>)
<span class="hljs-comment"># Note: walker has 6 action dimensions</span>
action = DMControlAction(values=[<span class="hljs-number">0.0</span>] * <span class="hljs-number">6</span>)
result = env.step(action)`,lang:"python",wrap:!1}}),B=new d({props:{title:"Running the Server",local:"running-the-server",headingTag:"h3"}}),E=new T({props:{code:"JTIzJTIwRnJvbSUyME9wZW5FbnYlMjByb290JTBBY2QlMjBlbnZzJTJGZG1fY29udHJvbF9lbnYlMEF1dmljb3JuJTIwc2VydmVyLmFwcCUzQWFwcCUyMC0taG9zdCUyMDAuMC4wLjAlMjAtLXBvcnQlMjA4MDAwJTBBJTBBJTIzJTIwT3IlMjB1c2luZyUyMHV2JTBBdXYlMjBydW4lMjAtLXByb2plY3QlMjAuJTIwc2VydmVy",highlighted:`<span class="hljs-comment"># From OpenEnv root</span>
<span class="hljs-built_in">cd</span> envs/dm_control_env
uvicorn server.app:app --host 0.0.0.0 --port 8000

<span class="hljs-comment"># Or using uv</span>
uv run --project . server`,lang:"bash",wrap:!1}}),_=new d({props:{title:"Using Docker",local:"using-docker",headingTag:"h3"}}),G=new T({props:{code:"JTIzJTIwQnVpbGQlMEFkb2NrZXIlMjBidWlsZCUyMC10JTIwZG1fY29udHJvbCUzQWxhdGVzdCUyMC1mJTIwc2VydmVyJTJGRG9ja2VyZmlsZSUyMC4lMEElMEElMjMlMjBSdW4lMEFkb2NrZXIlMjBydW4lMjAtcCUyMDgwMDAlM0E4MDAwJTIwZG1fY29udHJvbCUzQWxhdGVzdA==",highlighted:`<span class="hljs-comment"># Build</span>
docker build -t dm_control:latest -f server/Dockerfile .

<span class="hljs-comment"># Run</span>
docker run -p 8000:8000 dm_control:latest`,lang:"bash",wrap:!1}}),Z=new d({props:{title:"API",local:"api",headingTag:"h2"}}),k=new d({props:{title:"Action",local:"action",headingTag:"h3"}}),V=new T({props:{code:"Y2xhc3MlMjBETUNvbnRyb2xBY3Rpb24oQWN0aW9uKSUzQSUwQSUyMCUyMCUyMCUyMHZhbHVlcyUzQSUyMExpc3QlNUJmbG9hdCU1RCUyMCUyMCUyMyUyMENvbnRpbnVvdXMlMjBhY3Rpb24lMjB2YWx1ZXM=",highlighted:`<span class="hljs-keyword">class</span> <span class="hljs-title class_">DMControlAction</span>(<span class="hljs-title class_ inherited__">Action</span>):
    values: <span class="hljs-type">List</span>[<span class="hljs-built_in">float</span>]  <span class="hljs-comment"># Continuous action values</span>`,lang:"python",wrap:!1}}),S=new d({props:{title:"Observation",local:"observation",headingTag:"h3"}}),Q=new T({props:{code:"Y2xhc3MlMjBETUNvbnRyb2xPYnNlcnZhdGlvbihPYnNlcnZhdGlvbiklM0ElMEElMjAlMjAlMjAlMjBvYnNlcnZhdGlvbnMlM0ElMjBEaWN0JTVCc3RyJTJDJTIwTGlzdCU1QmZsb2F0JTVEJTVEJTIwJTIwJTIzJTIwTmFtZWQlMjBvYnNlcnZhdGlvbiUyMGFycmF5cyUwQSUyMCUyMCUyMCUyMHBpeGVscyUzQSUyME9wdGlvbmFsJTVCc3RyJTVEJTIwJTIwJTIzJTIwQmFzZTY0JTIwUE5HJTIwKGlmJTIwcmVuZGVyJTNEVHJ1ZSklMEElMjAlMjAlMjAlMjByZXdhcmQlM0ElMjBmbG9hdCUwQSUyMCUyMCUyMCUyMGRvbmUlM0ElMjBib29s",highlighted:`<span class="hljs-keyword">class</span> <span class="hljs-title class_">DMControlObservation</span>(<span class="hljs-title class_ inherited__">Observation</span>):
    observations: <span class="hljs-type">Dict</span>[<span class="hljs-built_in">str</span>, <span class="hljs-type">List</span>[<span class="hljs-built_in">float</span>]]  <span class="hljs-comment"># Named observation arrays</span>
    pixels: <span class="hljs-type">Optional</span>[<span class="hljs-built_in">str</span>]  <span class="hljs-comment"># Base64 PNG (if render=True)</span>
    reward: <span class="hljs-built_in">float</span>
    done: <span class="hljs-built_in">bool</span>`,lang:"python",wrap:!1}}),x=new d({props:{title:"State",local:"state",headingTag:"h3"}}),A=new T({props:{code:"Y2xhc3MlMjBETUNvbnRyb2xTdGF0ZShTdGF0ZSklM0ElMEElMjAlMjAlMjAlMjBkb21haW5fbmFtZSUzQSUyMHN0ciUwQSUyMCUyMCUyMCUyMHRhc2tfbmFtZSUzQSUyMHN0ciUwQSUyMCUyMCUyMCUyMGFjdGlvbl9zcGVjJTNBJTIwRGljdCU1QnN0ciUyQyUyMEFueSU1RCUwQSUyMCUyMCUyMCUyMG9ic2VydmF0aW9uX3NwZWMlM0ElMjBEaWN0JTVCc3RyJTJDJTIwQW55JTVEJTBBJTIwJTIwJTIwJTIwcGh5c2ljc190aW1lc3RlcCUzQSUyMGZsb2F0JTBBJTIwJTIwJTIwJTIwY29udHJvbF90aW1lc3RlcCUzQSUyMGZsb2F0JTBBJTIwJTIwJTIwJTIwZXBpc29kZV9pZCUzQSUyMHN0ciUwQSUyMCUyMCUyMCUyMHN0ZXBfY291bnQlM0ElMjBpbnQ=",highlighted:`<span class="hljs-keyword">class</span> <span class="hljs-title class_">DMControlState</span>(<span class="hljs-title class_ inherited__">State</span>):
    domain_name: <span class="hljs-built_in">str</span>
    task_name: <span class="hljs-built_in">str</span>
    action_spec: <span class="hljs-type">Dict</span>[<span class="hljs-built_in">str</span>, <span class="hljs-type">Any</span>]
    observation_spec: <span class="hljs-type">Dict</span>[<span class="hljs-built_in">str</span>, <span class="hljs-type">Any</span>]
    physics_timestep: <span class="hljs-built_in">float</span>
    control_timestep: <span class="hljs-built_in">float</span>
    episode_id: <span class="hljs-built_in">str</span>
    step_count: <span class="hljs-built_in">int</span>`,lang:"python",wrap:!1}}),Y=new d({props:{title:"Examples",local:"examples",headingTag:"h2"}}),z=new T({props:{code:"JTIzJTIwRGVmYXVsdCUzQSUyMGludGVyYWN0aXZlJTIwbW9kZSUyMHdpdGglMjBtaW5pbWFsJTIwcHlnYW1lJTIwd2luZG93JTBBcHl0aG9uJTIwZXhhbXBsZXMlMkZjYXJ0cG9sZV9jb250cm9sLnB5JTBBJTBBJTIzJTIwVmlzdWFsJTIwbW9kZSUyMHdpdGglMjByZW5kZXJlZCUyME11Sm9DbyUyMGZyYW1lcyUwQXB5dGhvbiUyMGV4YW1wbGVzJTJGY2FydHBvbGVfY29udHJvbC5weSUyMC0tdmlzdWFsJTBBJTBBJTIzJTIwSGVhZGxlc3MlMjBtb2RlJTIwKG5vJTIwcHlnYW1lJTJDJTIwYXV0b21hdGVkJTIwY29udHJvbCklMEFweXRob24lMjBleGFtcGxlcyUyRmNhcnRwb2xlX2NvbnRyb2wucHklMjAtLWhlYWRsZXNzJTIwLS1tYXgtc3RlcHMlMjA1MDAlMEElMEElMjMlMjBTZWxlY3QlMjBhJTIwZGlmZmVyZW50JTIwdGFzayUwQXB5dGhvbiUyMGV4YW1wbGVzJTJGY2FydHBvbGVfY29udHJvbC5weSUyMC0tdGFzayUyMHN3aW5ndXAlMEFweXRob24lMjBleGFtcGxlcyUyRmhvcHBlcl9jb250cm9sLnB5JTIwLS10YXNrJTIwc3RhbmQlMEFweXRob24lMjBleGFtcGxlcyUyRnF1YWRydXBlZF9jb250cm9sLnB5JTIwLS10YXNrJTIwcnVu",highlighted:`<span class="hljs-comment"># Default: interactive mode with minimal pygame window</span>
python examples/cartpole_control.py

<span class="hljs-comment"># Visual mode with rendered MuJoCo frames</span>
python examples/cartpole_control.py --visual

<span class="hljs-comment"># Headless mode (no pygame, automated control)</span>
python examples/cartpole_control.py --headless --max-steps 500

<span class="hljs-comment"># Select a different task</span>
python examples/cartpole_control.py --task swingup
python examples/hopper_control.py --task stand
python examples/quadruped_control.py --task run`,lang:"bash",wrap:!1}}),X=new d({props:{title:"Environment Variables",local:"environment-variables",headingTag:"h2"}}),D=new 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