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Interactive environment viewer

policy_in_viewer

The dm_control.viewer library can be used to visualize and interact with a control environment. The following example shows how to launch the viewer with an environment from the Control Suite:

from dm_control import suite
from dm_control import viewer

# Load an environment from the Control Suite.
env = suite.load(domain_name="humanoid", task_name="stand")

# Launch the viewer application.
viewer.launch(env)

For convenience we also provide a viewer launch script for the Control Suite in dm_control/suite/explore.py.

Viewing the environment with a policy in the loop

The viewer is also capable of running the environment with a policy in the loop to provide actions. This is done by passing the optional policy argument to viewer.launch. The policy should be a callable that accepts a TimeStep and returns a numpy array of actions conforming to environment.action_spec(). The example below shows how to execute a random uniform policy using the viewer:

from dm_control import suite
from dm_control import viewer
import numpy as np

env = suite.load(domain_name="humanoid", task_name="stand")
action_spec = env.action_spec()

# Define a uniform random policy.
def random_policy(time_step):
  del time_step  # Unused.
  return np.random.uniform(low=action_spec.minimum,
                           high=action_spec.maximum,
                           size=action_spec.shape)

# Launch the viewer application.
viewer.launch(env, policy=random_policy)

Keyboard and mouse controls

The viewer contains a built in help screen that can be brought up by pressing F1. You will find a comprehensive description of keyboard and mouse controls there.

Status view

Displays status of the simulation:

  • State - Current status of the Runtime state machine.
  • Time - Simulation clock accompanied by the current setting of time multiplier.
  • CPU - How much time per frame does physics simulation consume.
  • FPS - How many frames per second is the application rendering.
  • Camera - Name of the active camera.
  • Paused - Is the simulation paused?
  • Error - Recently caught error message.