Merge pull request incognite-lab#11 from incognite-lab/language

Add the base of language module

myGym/envs/language.py

@@ -0,0 +1,47 @@
+def concatenate_clauses(clauses, with_and=False):
+    n = len(clauses)
+    if n == 1:
+        return clauses[0]
+    elif n == 2:
+        return ' and '.join(clauses) if with_and else ', '.join(clauses)
+    elif n > 2:
+        return concatenate_clauses([', '.join(clauses[:-1]), clauses[-1]], with_and)
+    else:
+        exc = 'No clauses to concatenate'
+        raise Exception(exc)
+
+
+class Language:
+    def __init__(self):
+        pass
+
+    def generate_description(self, env) -> str:
+        task = env.task_type
+
+        def to_clause(d):
+            if task == 'reach':
+                return ' '.join([task, d[1]])
+            elif task == 'push':
+                return ' '.join([task, d[0], 'to the', d[1]])
+            elif task == 'pnp':
+                return ' '.join(['pick', d[0], 'and place it to the', d[1]])
+            elif task == 'pnprot':
+                return ' '.join(['pick', d[0] + ',', 'place it to the', d[1], 'and rotate it'])
+            elif task == 'pnpswipe':
+                raise NotImplementedError()
+            elif task == 'press':
+                return ' '.join([task, 'the', d[1]])
+            elif task == 'poke':
+                raise NotImplementedError()
+            elif task == 'switch':
+                return ' '.join([task, 'the', d[1]])
+            elif task == 'throw':
+                raise NotImplementedError()
+            elif task == 'turn':
+                return ' '.join([task, 'the', d[1]])
+            else:
+                exc = f'Unknown task type {task}'
+                raise Exception(exc)
+
+        init_goal = [(d['init']['obj_name'], d['goal']['obj_name']) for d in env.task_objects_dict]
+        return concatenate_clauses(list(map(to_clause, init_goal)))