File size: 2,125 Bytes
b86de98 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 | """
Use this script to control the env with your keyboard.
For this script to work, you need to have the PyGame window in focus.
See/modify `char_to_action` to set the key-to-action mapping.
"""
import numpy as np
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_door_hook import SawyerDoorHookEnv
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_pick_and_place import \
# SawyerPickAndPlaceEnv
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_push_and_reach_env_two_pucks import (
# SawyerPushAndReachXYDoublePuckEnv,
# SawyerPushAndReachXYZDoublePuckEnv,
# )
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_stack import SawyerStackEnv
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_laptop_close import SawyerLaptopCloseEnv
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_box_open import SawyerBoxOpenEnv
# from metaworld.envs.mujoco.sawyer_xyz.sawyer_peg_insertion_topdown import SawyerPegInsertionTopdownEnv
from robosuite.devices import SpaceMouse
space_mouse = SpaceMouse()
env = SawyerPegInsertionTopdownEnv()
NDIM = env.action_space.low.size
lock_action = False
obs = env.reset()
action = np.zeros(10)
closed = False
while True:
done = False
env.render()
state = space_mouse.get_controller_state()
dpos, rotation, grasp, reset = (
state["dpos"],
state["rotation"],
state["grasp"],
state["reset"],
)
# convert into a suitable end effector action for the environment
# current = env.get_mocap_quat()
# desired_quat = mat2quat(rotation)
# current_z = quat_to_zangle(current)
# desired_z = quat_to_zangle(desired_quat)
# # drotation = current.T.dot(rotation) # relative rotation of desired from current
# # dquat = T.mat2quat(drotation)
# print('current', current_z)
# print('desired', desired_z)
# print('diff unclipped', desired_z - current_z)
# diff = desired_z - current_z
# print('diff', diff)
gripper = grasp
if gripper == 1:
closed = not closed
obs, reward, done, _ = env.step(np.hstack([dpos/.005, 0, closed]))
# print(obs)
# if done:
# obs = env.reset()
|