Spaces:
Runtime error
Runtime error
| '''InvertedPendulum-v4 | |
| Action Space Box(-3.0, 3.0, (1,), float32) | |
| Observation Space Box(-inf, inf, (4,), float64) | |
| ''' | |
| class BasicLevelTranslator: | |
| def translate(self, state): | |
| res = ( | |
| f"Position of the cart: {state[0]:.2f} m\n" | |
| f"Sine of the angle between cart and first pole: {state[1]:.2f}\n" | |
| f"Sine of the angle between two poles: {state[2]:.2f}\n" | |
| f"Cosine of the angle between cart and first pole: {state[3]:.2f}\n" | |
| f"Cosine of the angle between two poles: {state[4]:.2f}\n" | |
| f"Velocity of the cart: {state[5]:.2f} m/s\n" | |
| f"Angular velocity of angle between cart and first pole: {state[6]:.2f} rad/s\n" | |
| f"Angular velocity of angle between two poles: {state[7]:.2f} rad/s\n" | |
| f"Constraint Force 1: {state[8]:.2f} N\n" | |
| f"Constraint Force 2: {state[9]:.2f} N\n" | |
| f"Constraint Force 3: {state[10]:.2f} N" | |
| ) | |
| 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 = { | |
| 0: "Apply a force in the range [-3, 3] to the cart to control its motion.", | |
| } | |
| 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 InvertedDoublePendulum environment is to balance the two poles "\ | |
| "on top of the cart by applying continuous forces on the cart." | |
| ) | |
| def describe_game(self): | |
| return ( | |
| "In the InvertedDoublePendulum environment, you control a system with a cart and two poles. "\ | |
| "Your objective is to balance the two poles on top of the cart by applying continuous forces "\ | |
| "to the cart. The environment provides observations of the cart's position, angles of the poles, "\ | |
| "and their angular velocities. The episode ends when certain termination conditions are met." | |
| ) | |
| def describe_action(self): | |
| return ( | |
| "Your next move: \n Please provide a numerical value within the range of [-3,3], "\ | |
| "representing the force to be applied to the cart." | |
| ) | |
| 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 = f"Applied Force on Cart: {info['action'][0]:.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 |