metaworld/scripts/keyboard_control.py

"""
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 sys

import numpy as np

from metaworld.envs.mujoco.sawyer_xyz import SawyerPickPlaceEnvV2





import pygame
from pygame.locals import QUIT, KEYDOWN

pygame.init()
screen = pygame.display.set_mode((400, 300))


char_to_action = {
    'w': np.array([0, -1, 0, 0]),
    'a': np.array([1, 0, 0, 0]),
    's': np.array([0, 1, 0, 0]),
    'd': np.array([-1, 0, 0, 0]),
    'q': np.array([1, -1, 0, 0]),
    'e': np.array([-1, -1, 0, 0]),
    'z': np.array([1, 1, 0, 0]),
    'c': np.array([-1, 1, 0, 0]),
    'k': np.array([0, 0, 1, 0]),
    'j': np.array([0, 0, -1, 0]),
    'h': 'close',
    'l': 'open',
    'x': 'toggle',
    'r': 'reset',
    'p': 'put obj in hand',
}

import pygame



env = SawyerPickPlaceEnvV2()
env._partially_observable = False
env._freeze_rand_vec = False
env._set_task_called = True
env.reset()
env._freeze_rand_vec = True
lock_action = False
random_action = False
obs = env.reset()
action = np.zeros(4)
while True:
    done = False
    if not lock_action:
        action[:3] = 0
    if not random_action:
        for event in pygame.event.get():
            event_happened = True
            if event.type == QUIT:
                sys.exit()
            if event.type == KEYDOWN:
                char = event.dict['key']
                new_action = char_to_action.get(chr(char), None)
                if new_action == 'toggle':
                    lock_action = not lock_action
                elif new_action == 'reset':
                    done = True
                elif new_action == 'close':
                    action[3] = 1
                elif new_action == 'open':
                    action[3] = -1
                elif new_action is not None:
                    action[:3] = new_action[:3]
                else:
                    action = np.zeros(3)
                print(action)
    else:
        action = env.action_space.sample()
    ob, reward, done, infos = env.step(action)
    # time.sleep(1)
    if done:
        obs = env.reset()
    env.render()