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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
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