def showDomain(self, a=0):
"""
Plot the 2 links + action arrows
TODO goal?
"""
s = self.state[:4]
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.gcf()
self.domain_ax = self.domain_fig.add_axes(
[0, 0, 1, 1], frameon=True, aspect=1.)
ax = self.domain_ax
self.link1 = lines.Line2D([], [], linewidth=2, color='black')
self.link2 = lines.Line2D([], [], linewidth=2, color='blue')
ax.add_line(self.link1)
ax.add_line(self.link2)
# Allow room for pendulum to swing without getting cut off on graph
viewable_distance = self.LINK_LENGTH_1 + self.LINK_LENGTH_2 + 0.5
ax.set_xlim(-viewable_distance, +viewable_distance)
ax.set_ylim(-viewable_distance, viewable_distance)
# add bar
bar = lines.Line2D([-viewable_distance, viewable_distance],
[self.LINK_LENGTH_1, self.LINK_LENGTH_1],
linewidth=1, color='red')
ax.add_line(bar)
# ax.set_aspect('equal')
plt.show()
if self.action_arrow is not None:
self.action_arrow.remove()
self.action_arrow = None
torque = self.AVAIL_TORQUE[a]
SHIFT = .5
if torque > 0: # counterclockwise torque
self.action_arrow = fromAtoB(SHIFT / 2.0, .5 * SHIFT, -SHIFT / 2.0,
-.5 * SHIFT, 'k', connectionstyle="arc3,rad=+1.2",
ax=self.domain_ax)
elif torque < 0: # clockwise torque
self.action_arrow = fromAtoB(
-SHIFT / 2.0, .5 * SHIFT, +SHIFT / 2.0,
-.5 * SHIFT, 'r', connectionstyle="arc3,rad=-1.2",
ax=self.domain_ax)
# update pendulum arm on figure
p1 = [-self.LINK_LENGTH_1 *
np.cos(s[0]), self.LINK_LENGTH_1 * np.sin(s[0])]
self.link1.set_data([0., p1[1]], [0., p1[0]])
p2 = [p1[0] - self.LINK_LENGTH_2 * np.cos(s[0] + s[1]),
p1[1] + self.LINK_LENGTH_2 * np.sin(s[0] + s[1])]
self.link2.set_data([p1[1], p2[1]], [p1[0], p2[0]])
plt.draw()
def showDomain(self, a=0):
# Draw the environment
s = self.state
s = s[0]
if self.circles is None:
fig = plt.figure(1, (self.chainSize * 2, 2))
ax = fig.add_axes([0, 0, 1, 1], frameon=False, aspect=1.)
ax.set_xlim(0, self.chainSize * 2)
ax.set_ylim(0, 2)
# Make the last one double circle
ax.add_patch(
mpatches.Circle((1 + 2 * (self.chainSize - 1), self.Y), self.RADIUS * 1.1, fc="w"))
ax.xaxis.set_visible(False)
ax.yaxis.set_visible(False)
self.circles = [mpatches.Circle((1 + 2 * i, self.Y), self.RADIUS, fc="w")
for i in range(self.chainSize)]
for i in range(self.chainSize):
ax.add_patch(self.circles[i])
if i != self.chainSize - 1:
fromAtoB(
1 + 2 * i + self.SHIFT,
self.Y + self.SHIFT,
1 + 2 * (i + 1) - self.SHIFT,
self.Y + self.SHIFT)
if i != self.chainSize - 2:
fromAtoB(
1 + 2 * (i + 1) - self.SHIFT,
self.Y - self.SHIFT,
1 + 2 * i + self.SHIFT,
self.Y - self.SHIFT,
'r')
fromAtoB(
.75,
self.Y -
1.5 *
self.SHIFT,
.75,
self.Y +
1.5 *
self.SHIFT,
'r',
connectionstyle='arc3,rad=-1.2')
plt.show()
[p.set_facecolor('w') for p in self.circles]
self.circles[s].set_facecolor('k')
plt.draw()
def showDomain(self, a):
s = self.state
# Plot the car and an arrow indicating the direction of accelaration
# Parts of this code was adopted from Jose Antonio Martin H.
# <*****@*****.**> online source code
pos, vel = s
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure("Mountain Car Domain")
# plot mountain
mountain_x = np.linspace(self.XMIN, self.XMAX, 1000)
mountain_y = np.sin(3 * mountain_x)
plt.gca(
).fill_between(mountain_x,
min(mountain_y) - self.CAR_HEIGHT * 2,
mountain_y,
color='g')
plt.xlim([self.XMIN - .2, self.XMAX])
plt.ylim(
[min(mountain_y) - self.CAR_HEIGHT * 2,
max(mountain_y) + self.CAR_HEIGHT * 2])
# plot car
self.car = lines.Line2D([], [], linewidth=20, color='b', alpha=.8)
plt.gca().add_line(self.car)
# Goal
plt.plot(self.GOAL, np.sin(3 * self.GOAL), 'yd', markersize=10.0)
plt.axis('off')
plt.gca().set_aspect('1')
self.domain_fig = plt.figure("Mountain Car Domain")
#pos = 0
#a = 0
car_middle_x = pos
car_middle_y = np.sin(3 * pos)
slope = np.arctan(3 * np.cos(3 * pos))
car_back_x = car_middle_x - self.CAR_WIDTH * np.cos(slope) / 2.
car_front_x = car_middle_x + self.CAR_WIDTH * np.cos(slope) / 2.
car_back_y = car_middle_y - self.CAR_WIDTH * np.sin(slope) / 2.
car_front_y = car_middle_y + self.CAR_WIDTH * np.sin(slope) / 2.
self.car.set_data([car_back_x, car_front_x], [car_back_y, car_front_y])
# wheels
# plott(x(1)-0.05,sin(3*(x(1)-0.05))+0.06,'ok','markersize',12,'MarkerFaceColor',[.5 .5 .5]);
# plot(x(1)+0.05,sin(3*(x(1)+0.05))+0.06,'ok','markersize',12,'MarkerFaceColor',[.5 .5 .5]);
# Arrows
if self.actionArrow is not None:
self.actionArrow.remove()
self.actionArrow = None
if self.actions[a] > 0:
self.actionArrow = fromAtoB(
car_front_x, car_front_y,
car_front_x + self.ARROW_LENGTH *
np.cos(slope), car_front_y +
self.ARROW_LENGTH * np.sin(slope),
#car_front_x + self.CAR_WIDTH*cos(slope)/2., car_front_y + self.CAR_WIDTH*sin(slope)/2.+self.CAR_HEIGHT,
'k', "arc3,rad=0",
0, 0, 'simple'
)
if self.actions[a] < 0:
self.actionArrow = fromAtoB(
car_back_x, car_back_y,
car_back_x - self.ARROW_LENGTH *
np.cos(slope), car_back_y -
self.ARROW_LENGTH * np.sin(slope),
#car_front_x + self.CAR_WIDTH*cos(slope)/2., car_front_y + self.CAR_WIDTH*sin(slope)/2.+self.CAR_HEIGHT,
'r', "arc3,rad=0",
0, 0, 'simple'
)
plt.draw()
def showDomain(self, a=0):
"""
Plot the 2 links + action arrows
"""
s = self.state
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.gcf()
self.domain_ax = self.domain_fig.add_axes([0, 0, 1, 1],
frameon=True,
aspect=1.)
ax = self.domain_ax
self.link1 = lines.Line2D([], [], linewidth=2, color='black')
self.link2 = lines.Line2D([], [], linewidth=2, color='blue')
ax.add_line(self.link1)
ax.add_line(self.link2)
# Allow room for pendulum to swing without getting cut off on graph
viewable_distance = self.LINK_LENGTH_1 + self.LINK_LENGTH_2 + 0.5
ax.set_xlim(-viewable_distance, +viewable_distance)
ax.set_ylim(-viewable_distance, viewable_distance)
# add bar
bar = lines.Line2D([-viewable_distance, viewable_distance],
[self.LINK_LENGTH_1, self.LINK_LENGTH_1],
linewidth=1,
color='red')
ax.add_line(bar)
# ax.set_aspect('equal')
plt.show()
if self.action_arrow is not None:
self.action_arrow.remove()
self.action_arrow = None
torque = self.AVAIL_TORQUE[a]
SHIFT = .5
if torque > 0: # counterclockwise torque
self.action_arrow = fromAtoB(SHIFT / 2.0,
.5 * SHIFT,
-SHIFT / 2.0,
-.5 * SHIFT,
'k',
connectionstyle="arc3,rad=+1.2",
ax=self.domain_ax)
elif torque < 0: # clockwise torque
self.action_arrow = fromAtoB(-SHIFT / 2.0,
.5 * SHIFT,
+SHIFT / 2.0,
-.5 * SHIFT,
'r',
connectionstyle="arc3,rad=-1.2",
ax=self.domain_ax)
# update pendulum arm on figure
p1 = [
-self.LINK_LENGTH_1 * np.cos(s[0]),
self.LINK_LENGTH_1 * np.sin(s[0])
]
self.link1.set_data([0., p1[1]], [0., p1[0]])
p2 = [
p1[0] - self.LINK_LENGTH_2 * np.cos(s[0] + s[1]),
p1[1] + self.LINK_LENGTH_2 * np.sin(s[0] + s[1])
]
self.link2.set_data([p1[1], p2[1]], [p1[0], p2[0]])
plt.draw()
def _plot_state(self, fourDimState, a):
"""
:param fourDimState: Four-dimensional cartpole state
(``theta, thetaDot, x, xDot``)
:param a: force action on the cart
Visualizes the state of the cartpole - the force action on the cart
is displayed as an arrow (not including noise!)
"""
s = fourDimState
if (self.domain_fig is None or self.pendulumArm is None) or \
(self.cartBox is None or self.cartBlob is None): # Need to initialize the figure
self.domain_fig = pl.figure("Domain")
self.domain_ax = self.domain_fig.add_axes(
[0, 0, 1, 1], frameon=True, aspect=1.)
self.pendulumArm = lines.Line2D(
[],
[],
linewidth=self.PEND_WIDTH,
color='black')
self.cartBox = mpatches.Rectangle(
[0,
self.PENDULUM_PIVOT_Y - old_div(self.RECT_HEIGHT, 2.0)],
self.RECT_WIDTH,
self.RECT_HEIGHT,
alpha=.4)
self.cartBlob = mpatches.Rectangle(
[0,
self.PENDULUM_PIVOT_Y - old_div(self.BLOB_WIDTH, 2.0)],
self.BLOB_WIDTH,
self.BLOB_WIDTH,
alpha=.4)
self.domain_ax.add_patch(self.cartBox)
self.domain_ax.add_line(self.pendulumArm)
self.domain_ax.add_patch(self.cartBlob)
# Draw Ground
groundPath = mpath.Path(self.GROUND_VERTS)
groundPatch = mpatches.PathPatch(groundPath, hatch="//")
self.domain_ax.add_patch(groundPatch)
self.timeText = self.domain_ax.text(
self.POSITION_LIMITS[1],
self.LENGTH,
"")
self.rewardText = self.domain_ax.text(
self.POSITION_LIMITS[0],
self.LENGTH,
"")
# Allow room for pendulum to swing without getting cut off on graph
viewableDistance = self.LENGTH + 0.5
if self.POSITION_LIMITS[0] < -100 * self.LENGTH or self.POSITION_LIMITS[1] > 100 * self.LENGTH:
# We have huge position limits, limit the figure width so
# cart is still visible
self.domain_ax.set_xlim(-viewableDistance, viewableDistance)
else:
self.domain_ax.set_xlim(
self.POSITION_LIMITS[0] - viewableDistance,
self.POSITION_LIMITS[1] + viewableDistance)
self.domain_ax.set_ylim(-viewableDistance, viewableDistance)
# self.domain_ax.set_aspect('equal')
pl.show()
forceAction = self.AVAIL_FORCE[a]
curX = s[StateIndex.X]
curTheta = s[StateIndex.THETA]
pendulumBobX = curX + self.LENGTH * np.sin(curTheta)
pendulumBobY = self.PENDULUM_PIVOT_Y + self.LENGTH * np.cos(curTheta)
if self.DEBUG:
print('Pendulum Position: ', pendulumBobX, pendulumBobY)
# update pendulum arm on figure
self.pendulumArm.set_data(
[curX, pendulumBobX], [self.PENDULUM_PIVOT_Y, pendulumBobY])
self.cartBox.set_x(curX - old_div(self.RECT_WIDTH, 2.0))
self.cartBlob.set_x(curX - old_div(self.BLOB_WIDTH, 2.0))
if self.actionArrow is not None:
self.actionArrow.remove()
self.actionArrow = None
if forceAction == 0:
pass # no force
else: # cw or ccw torque
if forceAction > 0: # rightward force
self.actionArrow = fromAtoB(
curX - self.ACTION_ARROW_LENGTH - old_div(self.RECT_WIDTH, 2.0), 0,
curX - old_div(self.RECT_WIDTH, 2.0), 0,
'k', "arc3,rad=0",
0, 0, 'simple', ax=self.domain_ax
)
else: # leftward force
self.actionArrow = fromAtoB(
curX + self.ACTION_ARROW_LENGTH + old_div(self.RECT_WIDTH, 2.0), 0,
curX + old_div(self.RECT_WIDTH, 2.0), 0,
'r', "arc3,rad=0",
0, 0, 'simple', ax=self.domain_ax
)
self.domain_fig.canvas.draw()
