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| '''Walker2d | |
| Action Space Box(-1.0, 1.0, (6,), float32) | |
| Observation Space Box(-inf, inf, (17,), float64) | |
| ''' | |
| class BasicLevelTranslator: | |
| def translate(self, state): | |
| res = ( | |
| f"Z-coordinate of the top (height of walker): {state[0]:.2f} m\n" | |
| f"Angle of the top: {state[1]:.2f} rad\n" | |
| f"Angle of the thigh joint: {state[2]:.2f} rad\n" | |
| f"Angle of the leg joint: {state[3]:.2f} rad\n" | |
| f"Angle of the foot joint: {state[4]:.2f} rad\n" | |
| f"Angle of the left thigh joint: {state[5]:.2f} rad\n" | |
| f"Angle of the left leg joint: {state[6]:.2f} rad\n" | |
| f"Angle of the left foot joint: {state[7]:.2f} rad\n" | |
| f"Velocity of the x-coordinate of the top: {state[8]:.2f} m/s\n" | |
| f"Velocity of the z-coordinate (height) of the top: {state[9]:.2f} m/s\n" | |
| f"Angular velocity of the angle of the top: {state[10]:.2f} rad/s\n" | |
| f"Angular velocity of the thigh hinge: {state[11]:.2f} rad/s\n" | |
| f"Angular velocity of the leg hinge: {state[12]:.2f} rad/s\n" | |
| f"Angular velocity of the foot hinge: {state[13]:.2f} rad/s\n" | |
| f"Angular velocity of the thigh hinge (left): {state[14]:.2f} rad/s\n" | |
| f"Angular velocity of the leg hinge (left): {state[15]:.2f} rad/s\n" | |
| f"Angular velocity of the foot hinge (left): {state[16]:.2f} rad/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 Walker2D environment is to coordinate both sets of feet, legs, and thighs " | |
| "to move in the forward (right) direction by applying torques to the six hinges connecting " | |
| "the six body parts. The objective is to make the robot walk forward." | |
| ) | |
| def describe_game(self): | |
| return ( | |
| "In the Walker2D environment, you control a two-dimensional two-legged walker with four main body parts. " | |
| "Your objective is to make the walker move forward by coordinating the torques applied to the six hinges " | |
| "connecting the body parts. The environment provides observations of the walker's body parts and velocities, " | |
| "including the torso, leg, and thigh angles, orientations, and velocities. The goal is to make the walker walk " | |
| "forward in the positive x-direction." | |
| ) | |
| def describe_action(self): | |
| return ( | |
| "Your next move: \nPlease provide a list of six numerical values, each within the range of [-1, 1], " | |
| "representing the torques to be applied at the six hinge joints of the walker. These torques will help " | |
| "coordinate the walker's movements and make it walk in the desired direction." | |
| ) | |
| 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 = ( | |
| "Torques Applied: " | |
| f"Thigh: {info['action'][0]:.2f}, Leg: {info['action'][1]:.2f}, Foot: {info['action'][2]:.2f}, " | |
| f"Left Thigh: {info['action'][3]:.2f}, Left Leg: {info['action'][4]:.2f}, Left Foot: {info['action'][5]:.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}\nTransit to\n{next_state_desc}" | |
| ) | |
| return descriptions | |