# 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.

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

"""A standalone application for visualizing manipulation tasks."""

import functools

from absl import app

from absl import flags

from dm_control import manipulation

from dm_control import viewer

flags.DEFINE_enum(

'environment_name', None, manipulation.ALL,

'Optional name of an environment to load. If unspecified '

'a prompt will appear to select one.')

FLAGS = flags.FLAGS

# TODO(b/121187817): Consolidate with dm_control/suite/explore.py

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

all_names = list(manipulation.ALL)

if environment_name is None:

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

environment_name = prompt_environment_name(

'Please select an environment name: ', all_names)

loader = functools.partial(

manipulation.load, environment_name=environment_name)

viewer.launch(loader)

if __name__ == '__main__':

app.run(main)