Visualizing the Env

There is a runner in env.py that will visualize the world. You have a few run options:

Display Methods

Interactive + Display

Run with a custom visualization viewer in birds-eye view mode. This is interactive, so you can pan the renderer around using the mouse.

python cambrian/envs/env.py run_renderer exp=<EXPERIMENT> env.renderer.render_modes="[human]"

Note

You may need to set MUJOCO_GL=glfw explicitly to have this work properly.

MUJOCO_GL=glfw python cambrian/envs/env.py run_renderer exp=<EXPERIMENT> env.renderer.render_modes="[human]"

Non-interactive + Headless

Run the custom viewer but headless and save the output:

python cambrian/envs/env.py run_renderer exp=<EXPERIMENT> --record <OPTIONAL_TOTAL_TIMESTEPS>

Interactive + Display

Run with the built-in mujoco viewer. You will need to scroll out to see the full view:

python cambrian/envs/env.py run_mj_viewer exp=<EXPERIMENT>

Viewer Shortcuts

Custom Viewer

This is a custom viewer that we use for debugging. There are a few shortcuts you can use:

  • R: Reset the environment

  • S: Screenshot (saved as screenshot.png)

  • Tab: Switch cameras in the main view

  • Space: Pause the simulation

  • Exit: Close the window

Mujoco Viewer

Hover over an option on the left side and right click to show all the shortcuts. Q will visualize the cameras and their frustums. You can also just click it under Rendering.