Getting started with interactive viewer

I'm new to mujoco and I wish to run my robot model in an interactive viewer.
In various posts I encountered, it is recommended to use mujoco's `simulate` utility, however, to my understanding, `simulate` will not allow me full programmable control of my robots (e.g., applying external forces).

I guess I should use `dm_control.viewer.launch(env)`, but this requires building a `composer.Environment` object as well as defining a `Task`, which seem pretty complex.
Is there sample code showing how to generate a simple `Environment` object? Alternatively, is there an easier way to get started with interactive viewer?