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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 | |