Spaces:
Runtime error
Runtime error
File size: 6,134 Bytes
0a92014 3ffd15b 0a92014 |
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 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 |
class BasicLevelTranslator:
def __init__(self):
pass
def translate(self, state):
(
torso_z_coordinate,
torso_x_orientation,
torso_y_orientation,
torso_z_orientation,
torso_w_orientation,
front_left_hip_angle,
front_left_link_angle,
front_right_hip_angle,
front_right_link_angle,
back_left_hip_angle,
back_left_link_angle,
back_right_hip_angle,
back_right_link_angle,
torso_x_velocity,
torso_y_velocity,
torso_z_velocity,
torso_x_angular_velocity,
torso_y_angular_velocity,
torso_z_angular_velocity,
front_left_hip_angular_velocity,
front_left_link_angular_velocity,
front_right_hip_angular_velocity,
front_right_link_angular_velocity,
back_left_hip_angular_velocity,
back_left_link_angular_velocity,
back_right_hip_angular_velocity,
back_right_link_angular_velocity,
) = state[:27]
res = (
f"Torso Z-coordinate: {torso_z_coordinate:.2f}, "
f"Torso X-orientation: {torso_x_orientation:.2f}, "
f"Torso Y-orientation: {torso_y_orientation:.2f}, "
f"Torso Z-orientation: {torso_z_orientation:.2f}, "
f"Torso W-orientation: {torso_w_orientation:.2f}, "
f"Front Left Hip Angle: {front_left_hip_angle:.2f}, "
f"Front Left Link Angle: {front_left_link_angle:.2f}, "
f"Front Right Hip Angle: {front_right_hip_angle:.2f}, "
f"Front Right Link Angle: {front_right_link_angle:.2f}, "
f"Back Left Hip Angle: {back_left_hip_angle:.2f}, "
f"Back Left Link Angle: {back_left_link_angle:.2f}, "
f"Back Right Hip Angle: {back_right_hip_angle:.2f}, "
f"Back Right Link Angle: {back_right_link_angle:.2f}, "
f"Torso X Velocity: {torso_x_velocity:.2f}, "
f"Torso Y Velocity: {torso_y_velocity:.2f}, "
f"Torso Z Velocity: {torso_z_velocity:.2f}, "
f"Torso X Angular Velocity: {torso_x_angular_velocity:.2f}, "
f"Torso Y Angular Velocity: {torso_y_angular_velocity:.2f}, "
f"Torso Z Angular Velocity: {torso_z_angular_velocity:.2f}, "
f"Front Left Hip Angular Velocity: {front_left_hip_angular_velocity:.2f}, "
f"Front Left Link Angular Velocity: {front_left_link_angular_velocity:.2f}, "
f"Front Right Hip Angular Velocity: {front_right_hip_angular_velocity:.2f}, "
f"Front Right Link Angular Velocity: {front_right_link_angular_velocity:.2f}, "
f"Back Left Hip Angular Velocity: {back_left_hip_angular_velocity:.2f}, "
f"Back Left Link Angular Velocity: {back_left_link_angular_velocity:.2f}, "
f"Back Right Hip Angular Velocity: {back_right_hip_angular_velocity:.2f}, "
f"Back Right Link Angular Velocity: {back_right_link_angular_velocity:.2f}"
)
return res
class GameDescriber:
def __init__(self, args):
self.is_only_local_obs = args.is_only_local_obs == 1
self.max_episode_len = args.max_episode_len
self.action_desc_dict = {
}
self.reward_desc_dict = {
}
def translate_terminate_state(self, state, episode_len, max_episode_len):
return ""
def translate_potential_next_state(self, state, action):
return ""
def describe_goal(self):
return "The goal is to coordinate the four legs of the ant robot to move forward."
def describe_game(self):
return (
"In the Ant environment, you control a 3D robot called the ant. The ant has a torso with four legs, "
"each consisting of two links and connected by hinge joints. Your objective is to apply torques to "
"the eight hinge joints to coordinate the four legs and make the ant move forward in the positive x-direction. "
"The environment provides observations of the ant's body parts and velocities, including the torso and leg angles, "
"orientations, and velocities. The episode ends when the ant becomes unhealthy, which can be due to various conditions."
)
def describe_action(self):
return (
"Your next move: \n Please choose your action which applies torques at the eight hinge joints of the ant. It be a list of eight numerical values and each value is within the range of [-1,1]."
)
class BasicStateSequenceTranslator(BasicLevelTranslator):
def translate(self, infos, is_current=False):
descriptions = []
if is_current:
state_desc = BasicLevelTranslator().translate(infos[-1]['state'])
return state_desc
for i, info in enumerate(infos):
assert 'state' in info, "info should contain state information"
state_desc = BasicLevelTranslator().translate(info['state'])
action_desc = (
"Take Action: "
"Apply Front Left Hip Torque: {:.2f}, "
"Apply Front Left Link Torque: {:.2f}, "
"Apply Front Right Hip Torque: {:.2f}, "
"Apply Front Right Link Torque: {:.2f}, "
"Apply Back Left Hip Torque: {:.2f}, "
"Apply Back Left Link Torque: {:.2f}, "
"Apply Back Right Hip Torque: {:.2f}, "
"Apply Back Right Link Torque: {:.2f}"
).format(
info['action'][0], info['action'][1], info['action'][2], info['action'][3],
info['action'][4], info['action'][5], info['action'][6], info['action'][7]
)
reward_desc = f"Result: Reward of {info['reward']:.2f}, "
next_state_desc = BasicLevelTranslator().translate(info['next_state'])
descriptions.append(f"{state_desc}.\\n {action_desc} \\n {reward_desc} \\n Transit to {next_state_desc}")
return descriptions |