Feature/dmcontrol env

docs/environments.md

@@ -468,6 +468,25 @@ The OpenEnv community has built a catalog of ready-to-run environments that cove
     </div>
   </div>
 
+  <div class="environment-card">
+    <div class="environment-card__body">
+      <span class="environment-card__tag">dm_control</span>
+      <p class="environment-card__description">
+        MuJoCo-based continuous control tasks from DeepMind's dm_control suite — cartpole, hopper, quadruped, walker, and more.
+      </p>
+    </div>
+    <div class="environment-card__links">
+      <a class="environment-card__icon" href="/OpenEnv/environments/dm-control/" aria-label="dm_control docs">
+        <svg viewBox="0 0 24 24" aria-hidden="true" focusable="false">
+          <path d="M6 3c-1.1 0-2 .9-2 2v14c0 1.1.9 2 2 2h12c1.1 0 2-.9 2-2V9l-6-6H6zm8 1.5L18.5 9H14V4.5z" fill="currentColor"/>
+        </svg>
+      </a>
+      <a class="environment-card__icon environment-card__icon--hf" href="https://huggingface.co/spaces/mreso/dm_control_env" target="_blank" rel="noreferrer noopener" aria-label="dm_control on Hugging Face">
+        <img src="https://huggingface.co/front/assets/huggingface_logo-noborder.svg" alt="" aria-hidden="true" />
+      </a>
+    </div>
+  </div>
+
 
 
 </div>

docs/environments/dm-control.md

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+--8<-- "../../envs/dm_control_env/README.md"

envs/dm_control_env/README.md

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+---
+title: dm_control Environment Server
+emoji: 🤖
+colorFrom: green
+colorTo: blue
+sdk: docker
+pinned: false
+app_port: 8000
+base_path: /web
+tags:
+  - openenv
+---
+
+# dm_control OpenEnv Environment
+
+A generic OpenEnv environment for [dm_control.suite](https://github.com/google-deepmind/dm_control), providing access to all MuJoCo-based continuous control tasks.
+
+<p align="center">
+  <img src="assets/cartpole.png" width="45%" alt="Cartpole Balance"/>
+  <img src="assets/quadruped.png" width="45%" alt="Quadruped Walk"/>
+</p>
+
+## Supported Environments
+
+| Domain | Tasks |
+|--------|-------|
+| cartpole | balance, swingup, swingup_sparse |
+| walker | stand, walk, run |
+| humanoid | stand, walk, run |
+| cheetah | run |
+| hopper | stand, hop |
+| reacher | easy, hard |
+| pendulum | swingup |
+| finger | spin, turn_easy, turn_hard |
+| fish | upright, swim |
+| ball_in_cup | catch |
+| And more... | See `dm_control.suite.BENCHMARKING` |
+
+## Quick Start
+
+### Using the Client
+
+```python
+from envs.dm_control_env import DMControlEnv, DMControlAction
+
+# Connect to a running server
+with DMControlEnv(base_url="http://localhost:8000") as env:
+    # Reset with default (cartpole/balance)
+    result = env.reset()
+    print(f"Observations: {result.observation.observations.keys()}")
+
+    # Take actions
+    for _ in range(100):
+        action = DMControlAction(values=[0.5])  # Push cart right
+        result = env.step(action)
+        print(f"Reward: {result.reward}, Done: {result.done}")
+
+        if result.done:
+            result = env.reset()
+```
+
+### Switching Environments
+
+```python
+# Start with cartpole
+result = env.reset(domain_name="cartpole", task_name="balance")
+
+# Switch to walker (on next reset)
+result = env.reset(domain_name="walker", task_name="walk")
+# Note: walker has 6 action dimensions
+action = DMControlAction(values=[0.0] * 6)
+result = env.step(action)
+```
+
+### Running the Server
+
+```bash
+# From OpenEnv root
+cd envs/dm_control_env
+uvicorn server.app:app --host 0.0.0.0 --port 8000
+
+# Or using uv
+uv run --project . server
+```
+
+### Using Docker
+
+```bash
+# Build
+docker build -t dm_control:latest -f server/Dockerfile .
+
+# Run
+docker run -p 8000:8000 dm_control:latest
+```
+
+## API
+
+### Action
+
+```python
+class DMControlAction(Action):
+    values: List[float]  # Continuous action values
+```
+
+Action dimensions vary by environment:
+- cartpole: 1 (force on cart)
+- walker: 6 (joint torques)
+- humanoid: 21 (joint torques)
+
+### Observation
+
+```python
+class DMControlObservation(Observation):
+    observations: Dict[str, List[float]]  # Named observation arrays
+    pixels: Optional[str]  # Base64 PNG (if render=True)
+    reward: float
+    done: bool
+```
+
+### State
+
+```python
+class DMControlState(State):
+    domain_name: str
+    task_name: str
+    action_spec: Dict[str, Any]
+    observation_spec: Dict[str, Any]
+    physics_timestep: float
+    control_timestep: float
+    episode_id: str
+    step_count: int
+```
+
+## Examples
+
+See the `examples/` directory:
+- `cartpole_control.py` - Interactive cartpole control with arrow keys
+- `hopper_control.py` - Interactive hopper control with spacebar for random forces
+- `quadruped_control.py` - Interactive quadruped control with spacebar for random forces
+- `list_environments.py` - Print all available environments
+
+All examples support consistent CLI arguments:
+
+```bash
+# Default: interactive mode with minimal pygame window
+python examples/cartpole_control.py
+
+# Visual mode with rendered MuJoCo frames
+python examples/cartpole_control.py --visual
+
+# Headless mode (no pygame, automated control)
+python examples/cartpole_control.py --headless --max-steps 500
+
+# Select a different task
+python examples/cartpole_control.py --task swingup
+python examples/hopper_control.py --task stand
+python examples/quadruped_control.py --task run
+```
+
+## Environment Variables
+
+| Variable | Default | Description |
+|----------|---------|-------------|
+| `DMCONTROL_DOMAIN` | cartpole | Default domain |
+| `DMCONTROL_TASK` | balance | Default task |
+| `DMCONTROL_RENDER_HEIGHT` | 480 | Render height |
+| `DMCONTROL_RENDER_WIDTH` | 640 | Render width |

envs/dm_control_env/__init__.py

@@ -0,0 +1,14 @@
+"""dm_control OpenEnv Environment.
+
+A generic OpenEnv environment for dm_control.suite supporting all domains/tasks.
+"""
+
+from .models import DMControlAction, DMControlObservation, DMControlState
+from .client import DMControlEnv
+
+__all__ = [
+    "DMControlAction",
+    "DMControlObservation",
+    "DMControlState",
+    "DMControlEnv",
+]