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9b47d4a dee27a2 9b47d4a dee27a2 9b47d4a dee27a2 9b47d4a dee27a2 9b47d4a dee27a2 9b47d4a dee27a2 9b47d4a dee27a2 9b47d4a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 | # Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the BSD-style license found in the
# LICENSE file in the root directory of this source tree.
"""
FastAPI application for the dm_control Environment.
This module creates an HTTP server that exposes dm_control.suite environments
over HTTP and WebSocket endpoints, compatible with EnvClient.
Usage:
# Development (with auto-reload):
uvicorn server.app:app --reload --host 0.0.0.0 --port 8000
# Production:
uvicorn server.app:app --host 0.0.0.0 --port 8000
# Or run directly:
uv run --project . server
"""
import os
try:
from openenv.core.env_server.http_server import create_app
from ..models import DMControlAction, DMControlObservation
from .dm_control_environment import DMControlEnvironment
from .drone_forest_environment import DroneForestEnvironment
except ImportError:
from openenv.core.env_server.http_server import create_app
try:
import sys
from pathlib import Path
_parent = str(Path(__file__).parent.parent)
if _parent not in sys.path:
sys.path.insert(0, _parent)
from models import DMControlAction, DMControlObservation
from server.dm_control_environment import DMControlEnvironment
from server.drone_forest_environment import DroneForestEnvironment
except ImportError:
try:
from dm_control_env.models import DMControlAction, DMControlObservation
from dm_control_env.server.dm_control_environment import (
DMControlEnvironment,
)
from dm_control_env.server.drone_forest_environment import (
DroneForestEnvironment,
)
except ImportError:
from envs.dm_control_env.models import DMControlAction, DMControlObservation
from envs.dm_control_env.server.dm_control_environment import (
DMControlEnvironment,
)
from envs.dm_control_env.server.drone_forest_environment import (
DroneForestEnvironment,
)
# Select environment based on OPENENV_ENVIRONMENT env var
if os.environ.get("OPENENV_ENVIRONMENT") == "drone_forest":
_env_cls = DroneForestEnvironment
_env_name = "drone_forest"
else:
_env_cls = DMControlEnvironment
_env_name = "dm_control_env"
# Create the app with web interface
# Pass the class (factory) for concurrent session support
app = create_app(
_env_cls,
DMControlAction,
DMControlObservation,
env_name=_env_name,
)
def main():
"""
Entry point for direct execution via uv run or python -m.
This function enables running the server without Docker:
uv run --project . server
python -m envs.dm_control_env.server.app
openenv serve dm_control_env
"""
import uvicorn
uvicorn.run(app, host="0.0.0.0", port=8000)
if __name__ == "__main__":
main()
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