Spaces:
Runtime error
Runtime error
File size: 4,300 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 86 87 |
'''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
|