| """ | |
| 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() | |