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Update manual_control.py #122

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Update manual_control.py #122

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83 changes: 26 additions & 57 deletions scripts/manual_control.py
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Original file line number Diff line number Diff line change
@@ -1,14 +1,23 @@
#!/usr/bin/env python3

import time
import argparse
import numpy as np
import gym
import gym_minigrid
from gym_minigrid.wrappers import *
from gym_minigrid.window import Window
import babyai

# Define key-action mappings
KEY_ACTIONS = {
'left': 'left',
'right': 'right',
'up': 'forward',
' ': 'toggle',
'pageup': 'pickup',
'pagedown': 'drop',
'enter': 'done',
}

def redraw(img):
if not args.agent_view:
img = env.render('rgb_array', tile_size=args.tile_size)
Expand All @@ -22,14 +31,14 @@ def reset():
obs = env.reset()

if hasattr(env, 'mission'):
print('Mission: %s' % env.mission)
print('Mission:', env.mission)
window.set_caption(env.mission)

redraw(obs)

def step(action):
obs, reward, done, info = env.step(action)
print('step=%s, reward=%.2f' % (env.step_count, reward))
print(f'step={env.step_count}, reward={reward:.2f}')

if done:
print('done!')
Expand All @@ -38,66 +47,26 @@ def step(action):
redraw(obs)

def key_handler(event):
print('pressed', event.key)
key = event.key

if event.key == 'escape':
if key == 'escape':
window.close()
return

if event.key == 'backspace':
if key == 'backspace':
reset()
return

if event.key == 'left':
step(env.actions.left)
return
if event.key == 'right':
step(env.actions.right)
return
if event.key == 'up':
step(env.actions.forward)
return

# Spacebar
if event.key == ' ':
step(env.actions.toggle)
return
if event.key == 'pageup' or event.key == 'p':
step(env.actions.pickup)
return
if event.key == 'pagedown' or event.key == 'd':
step(env.actions.drop)
return

if event.key == 'enter':
step(env.actions.done)
return

parser = argparse.ArgumentParser()
parser.add_argument(
"--env",
help="gym environment to load",
default='BabyAI-BossLevel-v0'
)
parser.add_argument(
"--seed",
type=int,
help="random seed to generate the environment with",
default=-1
)
parser.add_argument(
"--tile_size",
type=int,
help="size at which to render tiles",
default=32
)
parser.add_argument(
'--agent_view',
default=False,
help="draw the agent sees (partially observable view)",
action='store_true'
)
action = KEY_ACTIONS.get(key)
if action:
step(env.actions[action])

# Improve argument parsing
parser = argparse.ArgumentParser(description="MiniGrid Gym Environment")
parser.add_argument("--env", default='BabyAI-BossLevel-v0', help="Gym environment to load")
parser.add_argument("--seed", type=int, default=-1, help="Random seed for environment generation")
parser.add_argument("--tile_size", type=int, default=32, help="Size at which to render tiles")
parser.add_argument('--agent_view', action='store_true', help="Draw the agent's partially observable view")
args = parser.parse_args()

env = gym.make(args.env)
Expand All @@ -106,7 +75,7 @@ def key_handler(event):
env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)

window = Window('gym_minigrid - ' + args.env)
window = Window(f'gym_minigrid - {args.env}')
window.reg_key_handler(key_handler)

reset()
Expand Down