def circle_shape(center, radius, n_points=50):
shape = GeometricPrimitive("POLYGON")
x0, y0 = center
theta = np.linspace(0.0, 2 * np.pi, n_points)
for tt in theta:
xx = radius * np.cos(tt)
yy = radius * np.sin(tt)
shape.add_vertex((x0 + xx, y0 + yy))
return shape
def _get_ball_shape(self, xcenter, radius):
shape = GeometricPrimitive("POLYGON")
n_points = 200
theta_vals = np.linspace(0.0, 2 * np.pi, n_points)
for theta in theta_vals:
pp = np.array([2.0 * np.cos(theta), 2.0 * np.sin(theta)])
pp = xcenter + radius * projection_to_pball(pp, self.p)
# project to the main ball after translation
pp = projection_to_pball(pp, self.p)
shape.add_vertex((pp[0], pp[1]))
return shape
def get_background(self):
"""
Returne a scene (list of shapes) representing the background
"""
bg = Scene()
# wall
eps = self.wall_eps
shape = GeometricPrimitive("POLYGON")
shape.set_color((0.25, 0.25, 0.25))
shape.add_vertex((1 - eps, 0))
shape.add_vertex((1 - eps, 1))
shape.add_vertex((1 + eps, 1))
shape.add_vertex((1 + eps, 0))
bg.add_shape(shape)
# rewards
for (x, y) in [
self.base_reward_pos,
self.base_reward_pos + np.array([1.0, 0.0]),
]:
reward = circle_shape((x, y), 0.1, n_points=50)
reward.type = "POLYGON"
reward.set_color((0.0, 0.5, 0.0))
bg.add_shape(reward)
return bg
def get_scene(self, state):
scene = Scene()
p0 = (0.0, 0.0)
p1 = (self.LINK_LENGTH_1 * np.sin(state[0]),
-self.LINK_LENGTH_1 * np.cos(state[0]))
p2 = (p1[0] + self.LINK_LENGTH_2 * np.sin(state[0] + state[1]),
p1[1] - self.LINK_LENGTH_2 * np.cos(state[0] + state[1]))
link1 = bar_shape(p0, p1, 0.1)
link1.set_color((255 / 255, 140 / 255, 0 / 255))
link2 = bar_shape(p1, p2, 0.1)
link2.set_color((210 / 255, 105 / 255, 30 / 255))
joint1 = circle_shape(p0, 0.075)
joint1.set_color((255 / 255, 215 / 255, 0 / 255))
joint2 = circle_shape(p1, 0.075)
joint2.set_color((255 / 255, 215 / 255, 0 / 255))
goal_line = GeometricPrimitive("LINES")
goal_line.add_vertex((-5, 1))
goal_line.add_vertex((5, 1))
scene.add_shape(link1)
scene.add_shape(link2)
scene.add_shape(joint1)
scene.add_shape(joint2)
scene.add_shape(goal_line)
return scene
def get_scene(self, state):
scene = Scene()
agent = GeometricPrimitive("QUADS")
agent.set_color((0.0, 0.0, 0.0))
size = 0.025
x = state[0]
y = self._height(x)
agent.add_vertex((x - size, y - size))
agent.add_vertex((x + size, y - size))
agent.add_vertex((x + size, y + size))
agent.add_vertex((x - size, y + size))
scene.add_shape(agent)
return scene
def bar_shape(p0, p1, width):
shape = GeometricPrimitive("QUADS")
x0, y0 = p0
x1, y1 = p1
direction = np.array([x1 - x0, y1 - y0])
norm = np.sqrt((direction * direction).sum())
direction = direction / norm
# get vector perpendicular to direction
u_vec = np.zeros(2)
u_vec[0] = -direction[1]
u_vec[1] = direction[0]
u_vec = u_vec * width / 2
shape.add_vertex((x0 + u_vec[0], y0 + u_vec[1]))
shape.add_vertex((x0 - u_vec[0], y0 - u_vec[1]))
shape.add_vertex((x1 - u_vec[0], y1 - u_vec[1]))
shape.add_vertex((x1 + u_vec[0], y1 + u_vec[1]))
return shape
def get_background(self):
bg = Scene()
mountain = GeometricPrimitive("TRIANGLE_FAN")
flag = GeometricPrimitive("TRIANGLES")
mountain.set_color((0.6, 0.3, 0.0))
flag.set_color((0.0, 0.5, 0.0))
# Mountain
mountain.add_vertex((-0.3, -1.0))
mountain.add_vertex((0.6, -1.0))
n_points = 50
obs_range = self.observation_space.high[
0] - self.observation_space.low[0]
eps = obs_range / (n_points - 1)
for ii in reversed(range(n_points)):
x = self.observation_space.low[0] + ii * eps
y = self._height(x)
mountain.add_vertex((x, y))
mountain.add_vertex((-1.2, -1.0))
# Flag
goal_x = self.goal_position
goal_y = self._height(goal_x)
flag.add_vertex((goal_x, goal_y))
flag.add_vertex((goal_x + 0.025, goal_y + 0.075))
flag.add_vertex((goal_x - 0.025, goal_y + 0.075))
bg.add_shape(mountain)
bg.add_shape(flag)
return bg
def get_background(self):
"""
Returne a scene (list of shapes) representing the background
"""
bg = Scene()
# walls
for wall in self.walls:
y, x = wall
shape = GeometricPrimitive("POLYGON")
shape.set_color((0.25, 0.25, 0.25))
shape.add_vertex((x, y))
shape.add_vertex((x + 1, y))
shape.add_vertex((x + 1, y + 1))
shape.add_vertex((x, y + 1))
bg.add_shape(shape)
# rewards
for (y, x) in self.reward_at:
flag = GeometricPrimitive("POLYGON")
rwd = self.reward_at[(y, x)]
if rwd > 0:
flag.set_color((0.0, 0.5, 0.0))
if rwd < 0:
flag.set_color((0.5, 0.0, 0.0))
x += 0.5
y += 0.25
flag.add_vertex((x, y))
flag.add_vertex((x + 0.25, y + 0.5))
flag.add_vertex((x - 0.25, y + 0.5))
bg.add_shape(flag)
return bg
def get_background(self):
"""
Returne a scene (list of shapes) representing the background
"""
bg = Scene()
colors = [(0.8, 0.8, 0.8), (0.9, 0.9, 0.9)]
for ii in range(self.L):
shape = GeometricPrimitive("QUADS")
shape.add_vertex((ii, 0))
shape.add_vertex((ii + 1, 0))
shape.add_vertex((ii + 1, 1))
shape.add_vertex((ii, 1))
shape.set_color(colors[ii % 2])
bg.add_shape(shape)
flag = GeometricPrimitive("TRIANGLES")
flag.set_color((0.0, 0.5, 0.0))
x = self.L - 0.5
y = 0.25
flag.add_vertex((x, y))
flag.add_vertex((x + 0.25, y + 0.5))
flag.add_vertex((x - 0.25, y + 0.5))
bg.add_shape(flag)
return bg
def get_scene(self, state):
"""
Return scene (list of shapes) representing a given state
"""
scene = Scene()
agent = GeometricPrimitive("QUADS")
agent.set_color((0.75, 0.0, 0.5))
size = 0.25
x = state + 0.5
y = 0.5
agent.add_vertex((x - size / 4.0, y - size))
agent.add_vertex((x + size / 4.0, y - size))
agent.add_vertex((x + size / 4.0, y + size))
agent.add_vertex((x - size / 4.0, y + size))
agent.add_vertex((x - size, y - size / 4.0))
agent.add_vertex((x + size, y - size / 4.0))
agent.add_vertex((x + size, y + size / 4.0))
agent.add_vertex((x - size, y + size / 4.0))
scene.add_shape(agent)
return scene
