Spaces:
Runtime error
Runtime error
File size: 3,874 Bytes
2ec5014 |
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 |
'''
Action Space Box(-1.0, 1.0, (3,), float32)
Observation Space Box(-inf, inf, (11,), float64)
'''
class BasicLevelTranslator:
def __init__(self):
pass
def translate(self, state):
(top_z, top_angle, thigh_angle, leg_angle, foot_angle,
top_x_velocity, top_z_velocity, top_angular_velocity,
thigh_angular_velocity, leg_angular_velocity, foot_angular_velocity) = state[:11]
res = (
f"The top is at a z-coordinate of {top_z:.2f} meters. "
f"The angle of the top is {top_angle:.2f} radians. "
f"The angle of the thigh joint is {thigh_angle:.2f} radians. "
f"The angle of the leg joint is {leg_angle:.2f} radians. "
f"The angle of the foot joint is {foot_angle:.2f} radians. "
f"The x-coordinate velocity of the top is {top_x_velocity:.2f} m/s. "
f"The z-coordinate (height) velocity of the top is {top_z_velocity:.2f} m/s. "
f"The angular velocity of the top is {top_angular_velocity:.2f} radians/s. "
f"The angular velocity of the thigh hinge is {thigh_angular_velocity:.2f} radians/s. "
f"The angular velocity of the leg hinge is {leg_angular_velocity:.2f} radians/s. "
f"The angular velocity of the foot hinge is {foot_angular_velocity:.2f} radians/s."
)
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 in the Hopper environment is to make the one-legged hopper move forward (right) "
"by applying torques to the thigh, leg, and foot joints."
)
def describe_game(self):
return (
"In the Hopper environment, you control a one-legged hopper consisting of a torso, thigh, leg, "
"and a foot on which it rests. Your objective is to apply torques to the thigh, leg, and foot joints "
"to make the hopper perform hops in the positive x-direction. The environment provides observations "
"of the hopper's body parts and velocities, including the height, angles of joints, and angular velocities. "
"The episode ends when certain termination conditions are met."
)
def describe_action(self):
return (
"Your next move: \n Please provide a list of three numerical values, each within the range of [-1,1], "
"representing the torques to be applied at the thigh, leg, and foot joints of the hopper."
)
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 = (
f"Take Action: Apply Thigh Torque: {info['action'][0]:.2f}, "
f"Leg Torque: {info['action'][1]:.2f}, Foot Torque: {info['action'][2]:.2f}"
)
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
|