# Copyright 2018 The dm_control Authors.

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

# ============================================================================

"""Control suite environments explorer."""

from absl import app

from absl import flags

from dm_control import suite

from dm_control.suite.wrappers import action_noise

from dm_control import viewer

_ALL_NAMES = ['.'.join(domain_task) for domain_task in suite.ALL_TASKS]

flags.DEFINE_enum('environment_name', None, _ALL_NAMES,

'Optional \'domain_name.task_name\' pair specifying the '

'environment to load. If unspecified a prompt will appear to '

'select one.')

flags.DEFINE_bool('timeout', True, 'Whether episodes should have a time limit.')

flags.DEFINE_bool('visualize_reward', True,

'Whether to vary the colors of geoms according to the '

'current reward value.')

flags.DEFINE_float('action_noise', 0.,

'Standard deviation of Gaussian noise to apply to actions, '

'expressed as a fraction of the max-min range for each '

'action dimension. Defaults to 0, i.e. no noise.')

FLAGS = flags.FLAGS

def prompt_environment_name(prompt, values):

environment_name = None

while not environment_name:

environment_name = input(prompt)

if not environment_name or values.index(environment_name) < 0:

print('"%s" is not a valid environment name.' % environment_name)

environment_name = None

return environment_name

def main(argv):

del argv

environment_name = FLAGS.environment_name

if environment_name is None:

print('\n '.join(['Available environments:'] + _ALL_NAMES))

environment_name = prompt_environment_name(

'Please select an environment name: ', _ALL_NAMES)

index = _ALL_NAMES.index(environment_name)

domain_name, task_name = suite.ALL_TASKS[index]

task_kwargs = {}

if not FLAGS.timeout:

task_kwargs['time_limit'] = float('inf')

def loader():

env = suite.load(

domain_name=domain_name, task_name=task_name, task_kwargs=task_kwargs)

env.task.visualize_reward = FLAGS.visualize_reward

if FLAGS.action_noise > 0:

env = action_noise.Wrapper(env, scale=FLAGS.action_noise)

return env

viewer.launch(loader)

if __name__ == '__main__':

app.run(main)