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| '''Pusher | |
| Action Space Box(-2.0, 2.0, (7,), float32) | |
| Observation Space Box(-inf, inf, (23,), float64) | |
| ''' | |
| import math | |
| class BasicLevelTranslator: | |
| def __init__(self): | |
| pass | |
| def translate(self, state): | |
| joint_angles = state[:7] | |
| joint_velocities = state[7:14] | |
| fingertip_coords = state[14:17] | |
| object_coords = state[17:20] | |
| goal_coords = state[20:] | |
| joint_angle_degrees = [math.degrees(angle) for angle in joint_angles] | |
| joint_velocity_degrees = [math.degrees(velocity) for velocity in joint_velocities] | |
| res = (f"Rotation of the panning shoulder: {joint_angle_degrees[0]:.2f} degrees, " | |
| f"Rotation of the shoulder lifting joint: {joint_angle_degrees[1]:.2f} degrees, " | |
| f"Rotation of the shoulder rolling joint: {joint_angle_degrees[2]:.2f} degrees, " | |
| f"Rotation of the elbow joint: {joint_angle_degrees[3]:.2f} degrees, " | |
| f"Rotation of the forearm rolling joint: {joint_angle_degrees[4]:.2f} degrees, " | |
| f"Rotation of the wrist flexing joint: {joint_angle_degrees[5]:.2f} degrees, " | |
| f"Rotation of the wrist rolling joint: {joint_angle_degrees[6]:.2f} degrees, " | |
| f"Rotational velocity of the panning shoulder: {joint_velocity_degrees[0]:.2f} degrees/s, " | |
| f"Rotational velocity of the shoulder lifting joint: {joint_velocity_degrees[1]:.2f} degrees/s, " | |
| f"Rotational velocity of the shoulder rolling joint: {joint_velocity_degrees[2]:.2f} degrees/s, " | |
| f"Rotational velocity of the elbow joint: {joint_velocity_degrees[3]:.2f} degrees/s, " | |
| f"Rotational velocity of the forearm rolling joint: {joint_velocity_degrees[4]:.2f} degrees/s, " | |
| f"Rotational velocity of the wrist flexing joint: {joint_velocity_degrees[5]:.2f} degrees/s, " | |
| f"Rotational velocity of the wrist rolling joint: {joint_velocity_degrees[6]:.2f} degrees/s, " | |
| f"Fingertip coordinates (x, y, z): ({fingertip_coords[0]:.2f}, {fingertip_coords[1]:.2f}, {fingertip_coords[2]:.2f}), " | |
| f"Object coordinates (x, y, z): ({object_coords[0]:.2f}, {object_coords[1]:.2f}, {object_coords[2]:.2f}), " | |
| f"Goal coordinates (x, y, z): ({goal_coords[0]:.2f}, {goal_coords[1]:.2f}, {goal_coords[2]:.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 move the target cylinder (object) to the goal position using the robot's end effector (fingertip)." | |
| def describe_game(self): | |
| return ("In the Pusher game, you control a multi-jointed robot arm to manipulate a target cylinder (object) " | |
| "and place it in a goal position using the robot's fingertip (end effector). The robot has shoulder, elbow, " | |
| "forearm, and wrist joints that you can control with torque values. The observation space includes joint angles, " | |
| "angular velocities of joints, fingertip coordinates, object coordinates, and goal coordinates. The reward is " | |
| "based on the distance between the fingertip and the object, the distance between the object and the goal, " | |
| "and control penalties for large actions.") | |
| def describe_action(self): | |
| return ("Your next move: \n Please provide a list of 7 numerical values within the range [-2, 2], " | |
| "representing the torques applied to the robot's joints (shoulder, elbow, forearm, and wrist).") | |
| 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 info in infos: | |
| assert 'state' in info, "info should contain state information" | |
| state_desc = BasicLevelTranslator().translate(info['state']) | |
| action_desc = ("Take Action: Apply Torques - " | |
| "Shoulder Pan: {:.2f}, Shoulder Lift: {:.2f}, Shoulder Roll: {:.2f}, " | |
| "Elbow Flex: {:.2f}, Forearm Roll: {:.2f}, Wrist Flex: {:.2f}, Wrist Roll: {:.2f}" | |
| ).format(info['action'][0], info['action'][1], info['action'][2], info['action'][3], | |
| info['action'][4], info['action'][5], info['action'][6]) | |
| 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}\nTransit to {next_state_desc}") | |
| return descriptions | |