Gym-MiniGrid/manual_control.py

#!/usr/bin/env python3

import time
import argparse
import matplotlib.pyplot as plt
import numpy as np
import gym
import gym_minigrid
from gym_minigrid.wrappers import *

fig = None
imshow_obj = None

def redraw(img):
    global imshow_obj

    if not args.agent_view:
        img = env.render('rgb_array', tile_size=args.tile_size)

    # Show the first image of the environment
    if imshow_obj is None:
        imshow_obj = ax.imshow(img, interpolation='bilinear')

    imshow_obj.set_data(img)
    fig.canvas.draw()

def reset():
    obs = env.reset()

    if hasattr(env, 'mission'):
        print('Mission: %s' % env.mission)
        plt.xlabel(env.mission)

    redraw(obs)

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

    if done:
        print('done!')
        reset()

    redraw(obs)

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

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

    if event.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':
        step(env.actions.pickup)
        return
    if event.key == 'pagedown':
        step(env.actions.drop)
        return

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

parser = argparse.ArgumentParser()
parser.add_argument(
    "--env_name",
    help="gym environment to load",
    #default='MiniGrid-MultiRoom-N6-v0'
    default='MiniGrid-KeyCorridorS3R3-v0'
)
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's partially observable view",
    action='store_true'
)

args = parser.parse_args()

env = gym.make(args.env_name)

if args.agent_view:
    env = RGBImgPartialObsWrapper(env)
    env = ImgObsWrapper(env)

fig, ax = plt.subplots()

# Keyboard handler
fig.canvas.mpl_connect('key_press_event', key_handler)

# Show the env name in the window title
fig.canvas.set_window_title('gym_minigrid - ' + args.env_name)

# Turn off x/y axis numbering/ticks
ax.set_xticks([], [])
ax.set_yticks([], [])

reset()

# Show the plot, enter the matplotlib event loop
plt.show()