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_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):
"""
Return scene (list of shapes) representing a given state
"""
x, y = state
scene = Scene()
agent = circle_shape((x, y), 0.02, n_points=5)
agent.type = "POLYGON"
agent.set_color((0.75, 0.0, 0.5))
scene.add_shape(agent)
return scene
def get_scene(self, state):
scene = Scene()
p0 = (0.0, 0.0)
p1 = (self.length * np.sin(state[0]), -self.length * np.cos(state[0]))
link = bar_shape(p0, p1, 0.1)
link.set_color((255 / 255, 105 / 255, 30 / 255))
joint = circle_shape(p0, 0.075)
joint.set_color((255 / 255, 215 / 255, 0 / 255))
scene.add_shape(link)
scene.add_shape(joint)
return scene
def get_scene(self, state):
"""
Return scene (list of shapes) representing a given state
"""
y, x = self.index2coord[state]
x = x + 0.5 # centering
y = y + 0.5 # centering
scene = Scene()
agent = circle_shape((x, y), 0.25, n_points=5)
agent.type = "POLYGON"
agent.set_color((0.75, 0.0, 0.5))
scene.add_shape(agent)
return scene