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class BasicLevelTranslator:
def __init__(self):
pass
def translate(self, state):
(front_tip_z, front_tip_angle, back_thigh_angle_1, back_shin_angle_1,
tip_velocity_x, tip_velocity_y, front_tip_angular_velocity,
back_thigh_angular_velocity_1, front_tip_x, front_tip_y, front_tip_angle_2,
back_thigh_angle_2, back_shin_angle_2, tip_velocity_angular_x,
tip_velocity_angular_y, front_tip_angular_velocity_2,
back_thigh_angular_velocity_2) = state[:17]
res = (
f"The front tip is at a z-coordinate of {front_tip_z:.2f} meters. "
f"The angle of the front tip is {front_tip_angle:.2f} radians. "
f"The angles of the back thigh are {back_thigh_angle_1:.2f} and {back_thigh_angle_2:.2f} radians. "
f"The angles of the back shin are {back_shin_angle_1:.2f} and {back_shin_angle_2:.2f} radians. "
f"The tip has velocity along the x-axis of {tip_velocity_x:.2f} m/s. "
f"The tip has velocity along the y-axis of {tip_velocity_y:.2f} m/s. "
f"The angular velocity of the front tip is {front_tip_angular_velocity:.2f} radians/s. "
f"The angular velocities of the back thigh are {back_thigh_angular_velocity_1:.2f} and {back_thigh_angular_velocity_2:.2f} radians/s. "
f"The x-coordinate of the front tip is {front_tip_x:.2f} meters. "
f"The y-coordinate of the front tip is {front_tip_y:.2f} meters. "
f"The angle of the front tip is {front_tip_angle_2:.2f} radians. "
f"The angular velocity of the tip along the x-axis is {tip_velocity_angular_x:.2f} radians/s. "
f"The angular velocity of the tip along the y-axis is {tip_velocity_angular_y:.2f} radians/s. "
f"The angular velocity of the back shin is {front_tip_angular_velocity_2:.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 is to make the Half-Cheetah run forward (right) as fast as possible."
def describe_game(self):
return (
"In the Half-Cheetah game, you control a 2-dimensional robot with 9 links and 8 joints. "
"The goal is to apply torque to the joints to make the cheetah run forward (right) as fast as possible. "
"You can control the back thigh, back shin, and back foot rotors for the back legs, and the front thigh, "
"front shin, and front foot rotors for the front legs. The episode ends after 1000 timesteps. "
"Your reward is based on how much forward progress you make and how much control effort you apply."
)
def describe_action(self):
return (
"Your next move: \n"
"Please select six numerical values, each one within the range of [-1,1], "
"which represents the torque being applied to the back thigh rotor, "
"back shin rotor, back foot rotor, front thigh rotor, front shin rotor, "
"and front foot rotor respectively."
)
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 Back Thigh Torque: {:.2f}, "
"Apply Back Shin Torque: {:.2f}, "
"Apply Back Foot Torque: {:.2f}, "
"Apply Front Thigh Torque: {:.2f}, "
"Apply Front Shin Torque: {:.2f}, "
"Apply Front Foot Torque: {:.2f}"
).format(
info['action'][0], info['action'][1], info['action'][2],
info['action'][3], info['action'][4], info['action'][5]
)
reward_desc = f"Result: Forward Reward of {info['forward_reward']:.2f}, "
ctrl_cost_desc = f"Control Cost of {info['ctrl_cost']:.2f}, "
total_reward_desc = f"Total Reward of {info['reward']:.2f}, "
next_state_desc = BasicLevelTranslator().translate(info['next_state'])
descriptions.append(f"{state_desc}.\\n {action_desc} \\n {reward_desc} {ctrl_cost_desc} {total_reward_desc} \\n Transit to {next_state_desc}")
return descriptions
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