| """Plot one sim episode from its trace.json alone (numpy + matplotlib, no project code). |
| |
| python plot_episode.py anchor200_20261004_dpobs/switch_traces/seed_10131/trace.json [out.png] |
| """ |
| import json |
| import sys |
|
|
| import matplotlib.pyplot as plt |
| import numpy as np |
| from matplotlib.patches import Circle, Polygon |
|
|
| S = 30.0 |
| T_LOCAL = np.array([(-2 * S, 0), (2 * S, 0), (2 * S, S), (S / 2, S), |
| (S / 2, 4 * S), (-S / 2, 4 * S), (-S / 2, S), (-2 * S, S)]) |
| AGENT_RADIUS = 15.0 |
| COLOR = {'HPA': 'tab:blue', 'HAA': 'tab:orange'} |
|
|
|
|
| def t_outline(x, y, angle): |
| c, s = np.cos(angle), np.sin(angle) |
| return T_LOCAL @ np.array([[c, s], [-s, c]]) + (x, y) |
|
|
|
|
| def controller(step): |
| |
| return step['planner'] or ('HPA' if step['phase'] == 'HPA-only' else 'HAA') |
|
|
|
|
| ep = json.load(open(sys.argv[1])) |
| scene, trace, summ = ep['scene'], ep['trace'], ep['summary'] |
| fig, ax = plt.subplots(figsize=(6, 6)) |
| for o in scene['obstacles']: |
| ax.add_patch(Polygon(o['polygon'], color='0.55')) |
| ax.add_patch(Polygon(t_outline(*scene['goal']), fill=False, ls='--', color='tab:green', label='goal')) |
| first, last = trace[0]['pre_true']['block'], trace[-1]['post_true']['block'] |
| ax.add_patch(Polygon(t_outline(first['x'], first['y'], first['angle']), color='0.85', label='T start')) |
| ax.add_patch(Polygon(t_outline(last['x'], last['y'], last['angle']), color='0.3', alpha=0.6, label='T end')) |
| xy = np.array([[s['pre_true']['agent']['x'], s['pre_true']['agent']['y']] for s in trace] |
| + [[trace[-1]['post_true']['agent']['x'], trace[-1]['post_true']['agent']['y']]]) |
| for i, s in enumerate(trace): |
| ax.plot(xy[i:i + 2, 0], xy[i:i + 2, 1], color=COLOR[controller(s)], lw=1.5) |
| ax.add_patch(Circle(xy[-1], AGENT_RADIUS, fill=False, color=COLOR[controller(trace[-1])])) |
| for name, c in COLOR.items(): |
| ax.plot([], [], color=c, label=f'EE ({name})') |
| ax.set(xlim=(0, 512), ylim=(512, 0), aspect='equal', |
| title=f"seed {summ['seed']} success={summ['success']} hit={summ['obstacle_hit']} " |
| f"steps={summ['length']}") |
| ax.legend(loc='lower right', fontsize=8) |
| fig.tight_layout() |
| fig.savefig(sys.argv[2]) if len(sys.argv) > 2 else plt.show() |
|
|
