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DebugEnv.py
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DebugEnv.py
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import matplotlib.pyplot as plt
import numpy as np
from envs.utils.EnvBuilder import EnvBuilder
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("configFileName", help="Name (and only the name) of the environment configuration file", type=str)
args = parser.parse_args()
env = EnvBuilder.buildEnvFromConfig(f'configs/{args.configFileName}', gui=True)
print(env.observation_space.shape)
print(env.observation_space.sample())
for _ in range(3):
done = False
obs = env.reset()
ep_len = 0
xPos = []
while not done:
ep_len += 1
obs, rew, done, info = env.step(np.array([np.random.uniform(-0.5, 1), np.random.normal(0, 1), 0.5]))
xPos.append(obs[0])
print(f"Episode Length: {ep_len}")
if env.denoiseEngine is not None:
plt.title("Drone X Position")
plt.plot(range(len(env.denoiseEngine.observedHistory)), [x[0] for x in env.denoiseEngine.observedHistory])
plt.plot(range(len(env.denoiseEngine.denoisedHistory)), [x[0] for x in env.denoiseEngine.denoisedHistory])
plt.legend(["Original", "Denoised"])
plt.show()