{ "cells": [ { "cell_type": "code", "execution_count": 1, "id": "a0d39c3c", "metadata": {}, "outputs": [], "source": [ "%matplotlib notebook\n", "# Switch to inline if debugging plotting.\n", "# %matplotlib inline\n", "\n", "import os\n", "import pickle\n", "import sys\n", "\n", "from matplotlib import animation\n", "import matplotlib.pyplot as plt\n", "import numpy as np" ] }, { "cell_type": "markdown", "id": "edc5a0af", "metadata": {}, "source": [ "### Load evaluation results." ] }, { "cell_type": "code", "execution_count": 2, "id": "569e209d", "metadata": {}, "outputs": [], "source": [ "# Replace with the directory containing evaluation outputs.\n", "stats_dir = \"../scripts/eval_scripts/logs/planner_eval/run-1rdonjl7_0/\"\n", "scene_type = \"safer_slow\"\n", "risk_level = 1.0\n", "num_samples = 256\n", "\n", "filepath = os.path.join(stats_dir, f\"{scene_type}_{num_samples}_samples_risk_level_{risk_level}_in_predictor.pkl\")\n", "with open(filepath, \"rb\") as infile:\n", " predictor_data = pickle.load(infile)\n", "filepath = os.path.join(stats_dir, f\"{scene_type}_{num_samples}_samples_risk_level_{risk_level}_in_planner.pkl\")\n", "with open(filepath, \"rb\") as infile:\n", " planner_data = pickle.load(infile)" ] }, { "cell_type": "markdown", "id": "6cdbb58a", "metadata": {}, "source": [ "### Find the most relevant episodes." ] }, { "cell_type": "code", "execution_count": 3, "id": "49b8859c", "metadata": {}, "outputs": [], "source": [ "def print_riskiest_episodes(data, max_ep_id=10000, num_to_print=10, key=\"interaction_risk\"):\n", " episode_id_risk = []\n", " for episode_id in range(max_ep_id):\n", " if episode_id not in data:\n", " break\n", " episode_id_risk.append((episode_id, data[episode_id][key]))\n", " episode_id_risk = sorted(episode_id_risk, key=lambda x: x[1], reverse=True)\n", " \n", " print(\"Riskiest episodes:\")\n", " for ep_id, risk in episode_id_risk[:num_to_print]:\n", " print(f\"episode id: {ep_id}\\trisk: {risk:0.4f}\")\n", "\n", "def print_largest_risk_difference_episodes(\n", " data_a, \n", " data_b, \n", " max_ep_id=10000, \n", " key=\"interaction_risk\", \n", " num_to_print=10):\n", " \"\"\"Plots the episodes where the risk of a is most larger than that of b.\"\"\"\n", " risk_a = []\n", " risk_b = []\n", " for episode_id in range(max_ep_id):\n", " if episode_id not in data_a or episode_id not in data_b:\n", " break\n", " risk_a.append(data_a[episode_id][key])\n", " risk_b.append(data_b[episode_id][key])\n", " risk_a = np.array(risk_a)\n", " risk_b = np.array(risk_b)\n", " \n", " diff = risk_a - risk_b\n", " indices = np.argsort(diff)[::-1]\n", " \n", " print(\"Episdoes where the first data is risker than the second\")\n", " for episode_id in indices[:num_to_print]:\n", " print(f\"episode_id: {episode_id}\\tfirst data risk: {risk_a[episode_id]:0.4f}\\tsecond data risk: {risk_b[episode_id]:0.4f}\")" ] }, { "cell_type": "code", "execution_count": 4, "id": "1b7de380", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Riskiest episodes:\n", "episode id: 66\trisk: 1.1713\n", "episode id: 48\trisk: 1.0506\n", "episode id: 32\trisk: 1.0245\n", "episode id: 37\trisk: 1.0139\n", "episode id: 39\trisk: 0.9978\n", "episode id: 84\trisk: 0.9266\n", "episode id: 24\trisk: 0.9190\n", "episode id: 79\trisk: 0.8993\n", "episode id: 75\trisk: 0.8989\n", "episode id: 71\trisk: 0.8468\n" ] } ], "source": [ "print_riskiest_episodes(predictor_data)" ] }, { "cell_type": "code", "execution_count": 6, "id": "ba9bc377", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Episdoes where the first data is risker than the second\n", "episode_id: 54\tfirst data risk: 1.2152\tsecond data risk: 1.0733\n", "episode_id: 82\tfirst data risk: 0.5233\tsecond data risk: 0.3918\n", "episode_id: 30\tfirst data risk: 1.2241\tsecond data risk: 1.0988\n", "episode_id: 29\tfirst data risk: 0.8171\tsecond data risk: 0.7078\n", "episode_id: 48\tfirst data risk: 1.0183\tsecond data risk: 0.9133\n", "episode_id: 18\tfirst data risk: 0.4989\tsecond data risk: 0.4065\n", "episode_id: 95\tfirst data risk: 0.5201\tsecond data risk: 0.4409\n", "episode_id: 4\tfirst data risk: 0.8029\tsecond data risk: 0.7406\n", "episode_id: 23\tfirst data risk: 0.9542\tsecond data risk: 0.8920\n", "episode_id: 72\tfirst data risk: 1.0446\tsecond data risk: 0.9828\n" ] } ], "source": [ "print_largest_risk_difference_episodes(predictor_data, planner_data)" ] }, { "cell_type": "markdown", "id": "5fc3cfc3", "metadata": {}, "source": [ "### Animate those episodes for the risk-sensitive predictor vs risk-sensitive planner." ] }, { "cell_type": "code", "execution_count": 7, "id": "c03ae0f0", "metadata": {}, "outputs": [], "source": [ "def animate_episode(solver_infos, ado_positions, ado_predictions):\n", " fig = plt.figure()\n", " ax = plt.axes(xlim=(0, 100), ylim=(-4, 8))\n", " \n", " scatter = ax.scatter([], [])\n", " text = ax.annotate(\"\", (2,7.5))\n", " \n", " def animate(t):\n", " solver_iter = t // 45\n", " timestep = t % 45\n", " ado_position = np.array([[ado_positions[0, timestep, 0], ado_positions[0, timestep, 1]]]) \n", " solver_info = solver_infos[solver_iter]\n", " biased_predicted_ado_positions = solver_info[\"ado_state_future_samples\"][:, 0, timestep, :2].reshape([-1, 2])\n", " predicted_ado_positions = ado_predictions[:num_samples, 0 , timestep, :2].reshape([-1, 2])\n", " len_pred = len(predicted_ado_positions)\n", " len_biased_pred = len(biased_predicted_ado_positions)\n", " ego_positions = solver_info[\"ego_state_future\"][:, 0, timestep, :2]\n", " positions = np.concatenate((ado_position, predicted_ado_positions, biased_predicted_ado_positions, ego_positions)) \n", " scatter.set_offsets(positions)\n", " scatter.set_alpha(0.5)\n", " colors = np.ones(len(positions))*0.4\n", " colors[0] = 0\n", " colors[1:len_pred+1] = 0.6\n", " colors[len_pred+1:len_biased_pred+len_pred+1] = 0.8\n", " scatter.set_array(colors)\n", " total_risk = solver_info[\"total_risk\"].mean()\n", " tracking_cost = solver_info[\"tracking_cost\"].mean()\n", " text_str = \"solver_iter: {}, timestep: {:02d}, total risk: {:0.2f}, tracking cost: {:0.2f}\".format(\n", " solver_iter,\n", " timestep, \n", " total_risk,\n", " tracking_cost,\n", " )\n", " text.set_text(text_str)\n", " return scatter, text\n", " \n", " num_frames = 45 * 10\n", " anim = animation.FuncAnimation(fig, animate, frames=num_frames, interval=20, blit=True, save_count=sys.maxsize)\n", " \n", " return anim" ] }, { "cell_type": "code", "execution_count": 8, "id": "519e9eee", "metadata": {}, "outputs": [], "source": [ "episode_id = 66" ] }, { "cell_type": "code", "execution_count": 9, "id": "dcc04f38", "metadata": {}, "outputs": [ { "data": { "application/javascript": "/* Put everything inside the global mpl namespace */\n/* global mpl */\nwindow.mpl = {};\n\nmpl.get_websocket_type = function () {\n if (typeof WebSocket !== 'undefined') {\n return WebSocket;\n } else if (typeof MozWebSocket !== 'undefined') {\n return MozWebSocket;\n } else {\n alert(\n 'Your browser does not have WebSocket support. ' +\n 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n 'Firefox 4 and 5 are also supported but you ' +\n 'have to enable WebSockets in about:config.'\n );\n }\n};\n\nmpl.figure = function (figure_id, websocket, ondownload, parent_element) {\n this.id = figure_id;\n\n this.ws = websocket;\n\n this.supports_binary = this.ws.binaryType !== undefined;\n\n if (!this.supports_binary) {\n var warnings = document.getElementById('mpl-warnings');\n if (warnings) {\n warnings.style.display = 'block';\n warnings.textContent =\n 'This browser does not support binary websocket messages. ' +\n 'Performance may be slow.';\n }\n }\n\n this.imageObj = new Image();\n\n this.context = undefined;\n this.message = undefined;\n this.canvas = undefined;\n this.rubberband_canvas = undefined;\n this.rubberband_context = undefined;\n this.format_dropdown = undefined;\n\n this.image_mode = 'full';\n\n this.root = document.createElement('div');\n this.root.setAttribute('style', 'display: inline-block');\n this._root_extra_style(this.root);\n\n parent_element.appendChild(this.root);\n\n this._init_header(this);\n this._init_canvas(this);\n this._init_toolbar(this);\n\n var fig = this;\n\n this.waiting = false;\n\n this.ws.onopen = function () {\n fig.send_message('supports_binary', { value: fig.supports_binary });\n fig.send_message('send_image_mode', {});\n if (fig.ratio !== 1) {\n fig.send_message('set_device_pixel_ratio', {\n device_pixel_ratio: fig.ratio,\n });\n }\n fig.send_message('refresh', {});\n };\n\n this.imageObj.onload = function () {\n if (fig.image_mode === 'full') {\n // Full images could contain transparency (where diff images\n // almost always do), so we need to clear the canvas so that\n // there is no ghosting.\n fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n }\n fig.context.drawImage(fig.imageObj, 0, 0);\n };\n\n this.imageObj.onunload = function () {\n fig.ws.close();\n };\n\n this.ws.onmessage = this._make_on_message_function(this);\n\n this.ondownload = ondownload;\n};\n\nmpl.figure.prototype._init_header = function () {\n var titlebar = document.createElement('div');\n titlebar.classList =\n 'ui-dialog-titlebar ui-widget-header ui-corner-all ui-helper-clearfix';\n var titletext = document.createElement('div');\n titletext.classList = 'ui-dialog-title';\n titletext.setAttribute(\n 'style',\n 'width: 100%; text-align: center; padding: 3px;'\n );\n titlebar.appendChild(titletext);\n this.root.appendChild(titlebar);\n this.header = titletext;\n};\n\nmpl.figure.prototype._canvas_extra_style = function (_canvas_div) {};\n\nmpl.figure.prototype._root_extra_style = function (_canvas_div) {};\n\nmpl.figure.prototype._init_canvas = function () {\n var fig = this;\n\n var canvas_div = (this.canvas_div = document.createElement('div'));\n canvas_div.setAttribute(\n 'style',\n 'border: 1px solid #ddd;' +\n 'box-sizing: content-box;' +\n 'clear: both;' +\n 'min-height: 1px;' +\n 'min-width: 1px;' +\n 'outline: 0;' +\n 'overflow: hidden;' +\n 'position: relative;' +\n 'resize: both;'\n );\n\n function on_keyboard_event_closure(name) {\n return function (event) {\n return fig.key_event(event, name);\n };\n }\n\n canvas_div.addEventListener(\n 'keydown',\n on_keyboard_event_closure('key_press')\n );\n canvas_div.addEventListener(\n 'keyup',\n on_keyboard_event_closure('key_release')\n );\n\n this._canvas_extra_style(canvas_div);\n this.root.appendChild(canvas_div);\n\n var canvas = (this.canvas = document.createElement('canvas'));\n canvas.classList.add('mpl-canvas');\n canvas.setAttribute('style', 'box-sizing: content-box;');\n\n this.context = canvas.getContext('2d');\n\n var backingStore =\n this.context.backingStorePixelRatio ||\n this.context.webkitBackingStorePixelRatio ||\n this.context.mozBackingStorePixelRatio ||\n this.context.msBackingStorePixelRatio ||\n this.context.oBackingStorePixelRatio ||\n this.context.backingStorePixelRatio ||\n 1;\n\n this.ratio = (window.devicePixelRatio || 1) / backingStore;\n\n var rubberband_canvas = (this.rubberband_canvas = document.createElement(\n 'canvas'\n ));\n rubberband_canvas.setAttribute(\n 'style',\n 'box-sizing: content-box; position: absolute; left: 0; top: 0; z-index: 1;'\n );\n\n // Apply a ponyfill if ResizeObserver is not implemented by browser.\n if (this.ResizeObserver === undefined) {\n if (window.ResizeObserver !== undefined) {\n this.ResizeObserver = window.ResizeObserver;\n } else {\n var obs = _JSXTOOLS_RESIZE_OBSERVER({});\n this.ResizeObserver = obs.ResizeObserver;\n }\n }\n\n this.resizeObserverInstance = new this.ResizeObserver(function (entries) {\n var nentries = entries.length;\n for (var i = 0; i < nentries; i++) {\n var entry = entries[i];\n var width, height;\n if (entry.contentBoxSize) {\n if (entry.contentBoxSize instanceof Array) {\n // Chrome 84 implements new version of spec.\n width = entry.contentBoxSize[0].inlineSize;\n height = entry.contentBoxSize[0].blockSize;\n } else {\n // Firefox implements old version of spec.\n width = entry.contentBoxSize.inlineSize;\n height = entry.contentBoxSize.blockSize;\n }\n } else {\n // Chrome <84 implements even older version of spec.\n width = entry.contentRect.width;\n height = entry.contentRect.height;\n }\n\n // Keep the size of the canvas and rubber band canvas in sync with\n // the canvas container.\n if (entry.devicePixelContentBoxSize) {\n // Chrome 84 implements new version of spec.\n canvas.setAttribute(\n 'width',\n entry.devicePixelContentBoxSize[0].inlineSize\n );\n canvas.setAttribute(\n 'height',\n entry.devicePixelContentBoxSize[0].blockSize\n );\n } else {\n canvas.setAttribute('width', width * fig.ratio);\n canvas.setAttribute('height', height * fig.ratio);\n }\n canvas.setAttribute(\n 'style',\n 'width: ' + width + 'px; height: ' + height + 'px;'\n );\n\n rubberband_canvas.setAttribute('width', width);\n rubberband_canvas.setAttribute('height', height);\n\n // And update the size in Python. We ignore the initial 0/0 size\n // that occurs as the element is placed into the DOM, which should\n // otherwise not happen due to the minimum size styling.\n if (fig.ws.readyState == 1 && width != 0 && height != 0) {\n fig.request_resize(width, height);\n }\n }\n });\n this.resizeObserverInstance.observe(canvas_div);\n\n function on_mouse_event_closure(name) {\n return function (event) {\n return fig.mouse_event(event, name);\n };\n }\n\n rubberband_canvas.addEventListener(\n 'mousedown',\n on_mouse_event_closure('button_press')\n );\n rubberband_canvas.addEventListener(\n 'mouseup',\n on_mouse_event_closure('button_release')\n );\n rubberband_canvas.addEventListener(\n 'dblclick',\n on_mouse_event_closure('dblclick')\n );\n // Throttle sequential mouse events to 1 every 20ms.\n rubberband_canvas.addEventListener(\n 'mousemove',\n on_mouse_event_closure('motion_notify')\n );\n\n rubberband_canvas.addEventListener(\n 'mouseenter',\n on_mouse_event_closure('figure_enter')\n );\n rubberband_canvas.addEventListener(\n 'mouseleave',\n on_mouse_event_closure('figure_leave')\n );\n\n canvas_div.addEventListener('wheel', function (event) {\n if (event.deltaY < 0) {\n event.step = 1;\n } else {\n event.step = -1;\n }\n on_mouse_event_closure('scroll')(event);\n });\n\n canvas_div.appendChild(canvas);\n canvas_div.appendChild(rubberband_canvas);\n\n this.rubberband_context = rubberband_canvas.getContext('2d');\n this.rubberband_context.strokeStyle = '#000000';\n\n this._resize_canvas = function (width, height, forward) {\n if (forward) {\n canvas_div.style.width = width + 'px';\n canvas_div.style.height = height + 'px';\n }\n };\n\n // Disable right mouse context menu.\n this.rubberband_canvas.addEventListener('contextmenu', function (_e) {\n event.preventDefault();\n return false;\n });\n\n function set_focus() {\n canvas.focus();\n canvas_div.focus();\n }\n\n window.setTimeout(set_focus, 100);\n};\n\nmpl.figure.prototype._init_toolbar = function () {\n var fig = this;\n\n var toolbar = document.createElement('div');\n toolbar.classList = 'mpl-toolbar';\n this.root.appendChild(toolbar);\n\n function on_click_closure(name) {\n return function (_event) {\n return fig.toolbar_button_onclick(name);\n };\n }\n\n function on_mouseover_closure(tooltip) {\n return function (event) {\n if (!event.currentTarget.disabled) {\n return fig.toolbar_button_onmouseover(tooltip);\n }\n };\n }\n\n fig.buttons = {};\n var buttonGroup = document.createElement('div');\n buttonGroup.classList = 'mpl-button-group';\n for (var toolbar_ind in mpl.toolbar_items) {\n var name = mpl.toolbar_items[toolbar_ind][0];\n var tooltip = mpl.toolbar_items[toolbar_ind][1];\n var image = mpl.toolbar_items[toolbar_ind][2];\n var method_name = mpl.toolbar_items[toolbar_ind][3];\n\n if (!name) {\n /* Instead of a spacer, we start a new button group. */\n if (buttonGroup.hasChildNodes()) {\n toolbar.appendChild(buttonGroup);\n }\n buttonGroup = document.createElement('div');\n buttonGroup.classList = 'mpl-button-group';\n continue;\n }\n\n var button = (fig.buttons[name] = document.createElement('button'));\n button.classList = 'mpl-widget';\n button.setAttribute('role', 'button');\n button.setAttribute('aria-disabled', 'false');\n button.addEventListener('click', on_click_closure(method_name));\n button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n\n var icon_img = document.createElement('img');\n icon_img.src = '_images/' + image + '.png';\n icon_img.srcset = '_images/' + image + '_large.png 2x';\n icon_img.alt = tooltip;\n button.appendChild(icon_img);\n\n buttonGroup.appendChild(button);\n }\n\n if (buttonGroup.hasChildNodes()) {\n toolbar.appendChild(buttonGroup);\n }\n\n var fmt_picker = document.createElement('select');\n fmt_picker.classList = 'mpl-widget';\n toolbar.appendChild(fmt_picker);\n this.format_dropdown = fmt_picker;\n\n for (var ind in mpl.extensions) {\n var fmt = mpl.extensions[ind];\n var option = document.createElement('option');\n option.selected = fmt === mpl.default_extension;\n option.innerHTML = fmt;\n fmt_picker.appendChild(option);\n }\n\n var status_bar = document.createElement('span');\n status_bar.classList = 'mpl-message';\n toolbar.appendChild(status_bar);\n this.message = status_bar;\n};\n\nmpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n // which will in turn request a refresh of the image.\n this.send_message('resize', { width: x_pixels, height: y_pixels });\n};\n\nmpl.figure.prototype.send_message = function (type, properties) {\n properties['type'] = type;\n properties['figure_id'] = this.id;\n this.ws.send(JSON.stringify(properties));\n};\n\nmpl.figure.prototype.send_draw_message = function () {\n if (!this.waiting) {\n this.waiting = true;\n this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n }\n};\n\nmpl.figure.prototype.handle_save = function (fig, _msg) {\n var format_dropdown = fig.format_dropdown;\n var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n fig.ondownload(fig, format);\n};\n\nmpl.figure.prototype.handle_resize = function (fig, msg) {\n var size = msg['size'];\n if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n fig._resize_canvas(size[0], size[1], msg['forward']);\n fig.send_message('refresh', {});\n }\n};\n\nmpl.figure.prototype.handle_rubberband = function (fig, msg) {\n var x0 = msg['x0'] / fig.ratio;\n var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n var x1 = msg['x1'] / fig.ratio;\n var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n x0 = Math.floor(x0) + 0.5;\n y0 = Math.floor(y0) + 0.5;\n x1 = Math.floor(x1) + 0.5;\n y1 = Math.floor(y1) + 0.5;\n var min_x = Math.min(x0, x1);\n var min_y = Math.min(y0, y1);\n var width = Math.abs(x1 - x0);\n var height = Math.abs(y1 - y0);\n\n fig.rubberband_context.clearRect(\n 0,\n 0,\n fig.canvas.width / fig.ratio,\n fig.canvas.height / fig.ratio\n );\n\n fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n};\n\nmpl.figure.prototype.handle_figure_label = function (fig, msg) {\n // Updates the figure title.\n fig.header.textContent = msg['label'];\n};\n\nmpl.figure.prototype.handle_cursor = function (fig, msg) {\n fig.rubberband_canvas.style.cursor = msg['cursor'];\n};\n\nmpl.figure.prototype.handle_message = function (fig, msg) {\n fig.message.textContent = msg['message'];\n};\n\nmpl.figure.prototype.handle_draw = function (fig, _msg) {\n // Request the server to send over a new figure.\n fig.send_draw_message();\n};\n\nmpl.figure.prototype.handle_image_mode = function (fig, msg) {\n fig.image_mode = msg['mode'];\n};\n\nmpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n for (var key in msg) {\n if (!(key in fig.buttons)) {\n continue;\n }\n fig.buttons[key].disabled = !msg[key];\n fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n }\n};\n\nmpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n if (msg['mode'] === 'PAN') {\n fig.buttons['Pan'].classList.add('active');\n fig.buttons['Zoom'].classList.remove('active');\n } else if (msg['mode'] === 'ZOOM') {\n fig.buttons['Pan'].classList.remove('active');\n fig.buttons['Zoom'].classList.add('active');\n } else {\n fig.buttons['Pan'].classList.remove('active');\n fig.buttons['Zoom'].classList.remove('active');\n }\n};\n\nmpl.figure.prototype.updated_canvas_event = function () {\n // Called whenever the canvas gets updated.\n this.send_message('ack', {});\n};\n\n// A function to construct a web socket function for onmessage handling.\n// Called in the figure constructor.\nmpl.figure.prototype._make_on_message_function = function (fig) {\n return function socket_on_message(evt) {\n if (evt.data instanceof Blob) {\n var img = evt.data;\n if (img.type !== 'image/png') {\n /* FIXME: We get \"Resource interpreted as Image but\n * transferred with MIME type text/plain:\" errors on\n * Chrome. But how to set the MIME type? It doesn't seem\n * to be part of the websocket stream */\n img.type = 'image/png';\n }\n\n /* Free the memory for the previous frames */\n if (fig.imageObj.src) {\n (window.URL || window.webkitURL).revokeObjectURL(\n fig.imageObj.src\n );\n }\n\n fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n img\n );\n fig.updated_canvas_event();\n fig.waiting = false;\n return;\n } else if (\n typeof evt.data === 'string' &&\n evt.data.slice(0, 21) === 'data:image/png;base64'\n ) {\n fig.imageObj.src = evt.data;\n fig.updated_canvas_event();\n fig.waiting = false;\n return;\n }\n\n var msg = JSON.parse(evt.data);\n var msg_type = msg['type'];\n\n // Call the \"handle_{type}\" callback, which takes\n // the figure and JSON message as its only arguments.\n try {\n var callback = fig['handle_' + msg_type];\n } catch (e) {\n console.log(\n \"No handler for the '\" + msg_type + \"' message type: \",\n msg\n );\n return;\n }\n\n if (callback) {\n try {\n // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n callback(fig, msg);\n } catch (e) {\n console.log(\n \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n e,\n e.stack,\n msg\n );\n }\n }\n };\n};\n\n// from https://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\nmpl.findpos = function (e) {\n //this section is from http://www.quirksmode.org/js/events_properties.html\n var targ;\n if (!e) {\n e = window.event;\n }\n if (e.target) {\n targ = e.target;\n } else if (e.srcElement) {\n targ = e.srcElement;\n }\n if (targ.nodeType === 3) {\n // defeat Safari bug\n targ = targ.parentNode;\n }\n\n // pageX,Y are the mouse positions relative to the document\n var boundingRect = targ.getBoundingClientRect();\n var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n\n return { x: x, y: y };\n};\n\n/*\n * return a copy of an object with only non-object keys\n * we need this to avoid circular references\n * https://stackoverflow.com/a/24161582/3208463\n */\nfunction simpleKeys(original) {\n return Object.keys(original).reduce(function (obj, key) {\n if (typeof original[key] !== 'object') {\n obj[key] = original[key];\n }\n return obj;\n }, {});\n}\n\nmpl.figure.prototype.mouse_event = function (event, name) {\n var canvas_pos = mpl.findpos(event);\n\n if (name === 'button_press') {\n this.canvas.focus();\n this.canvas_div.focus();\n }\n\n var x = canvas_pos.x * this.ratio;\n var y = canvas_pos.y * this.ratio;\n\n this.send_message(name, {\n x: x,\n y: y,\n button: event.button,\n step: event.step,\n guiEvent: simpleKeys(event),\n });\n\n /* This prevents the web browser from automatically changing to\n * the text insertion cursor when the button is pressed. We want\n * to control all of the cursor setting manually through the\n * 'cursor' event from matplotlib */\n event.preventDefault();\n return false;\n};\n\nmpl.figure.prototype._key_event_extra = function (_event, _name) {\n // Handle any extra behaviour associated with a key event\n};\n\nmpl.figure.prototype.key_event = function (event, name) {\n // Prevent repeat events\n if (name === 'key_press') {\n if (event.key === this._key) {\n return;\n } else {\n this._key = event.key;\n }\n }\n if (name === 'key_release') {\n this._key = null;\n }\n\n var value = '';\n if (event.ctrlKey && event.key !== 'Control') {\n value += 'ctrl+';\n }\n else if (event.altKey && event.key !== 'Alt') {\n value += 'alt+';\n }\n else if (event.shiftKey && event.key !== 'Shift') {\n value += 'shift+';\n }\n\n value += 'k' + event.key;\n\n this._key_event_extra(event, name);\n\n this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n return false;\n};\n\nmpl.figure.prototype.toolbar_button_onclick = function (name) {\n if (name === 'download') {\n this.handle_save(this, null);\n } else {\n this.send_message('toolbar_button', { name: name });\n }\n};\n\nmpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n this.message.textContent = tooltip;\n};\n\n///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n// prettier-ignore\nvar _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\nmpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n\nmpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n\nmpl.default_extension = \"png\";/* global mpl */\n\nvar comm_websocket_adapter = function (comm) {\n // Create a \"websocket\"-like object which calls the given IPython comm\n // object with the appropriate methods. Currently this is a non binary\n // socket, so there is still some room for performance tuning.\n var ws = {};\n\n ws.binaryType = comm.kernel.ws.binaryType;\n ws.readyState = comm.kernel.ws.readyState;\n function updateReadyState(_event) {\n if (comm.kernel.ws) {\n ws.readyState = comm.kernel.ws.readyState;\n } else {\n ws.readyState = 3; // Closed state.\n }\n }\n comm.kernel.ws.addEventListener('open', updateReadyState);\n comm.kernel.ws.addEventListener('close', updateReadyState);\n comm.kernel.ws.addEventListener('error', updateReadyState);\n\n ws.close = function () {\n comm.close();\n };\n ws.send = function (m) {\n //console.log('sending', m);\n comm.send(m);\n };\n // Register the callback with on_msg.\n comm.on_msg(function (msg) {\n //console.log('receiving', msg['content']['data'], msg);\n var data = msg['content']['data'];\n if (data['blob'] !== undefined) {\n data = {\n data: new Blob(msg['buffers'], { type: data['blob'] }),\n };\n }\n // Pass the mpl event to the overridden (by mpl) onmessage function.\n ws.onmessage(data);\n });\n return ws;\n};\n\nmpl.mpl_figure_comm = function (comm, msg) {\n // This is the function which gets called when the mpl process\n // starts-up an IPython Comm through the \"matplotlib\" channel.\n\n var id = msg.content.data.id;\n // Get hold of the div created by the display call when the Comm\n // socket was opened in Python.\n var element = document.getElementById(id);\n var ws_proxy = comm_websocket_adapter(comm);\n\n function ondownload(figure, _format) {\n window.open(figure.canvas.toDataURL());\n }\n\n var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n\n // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n // web socket which is closed, not our websocket->open comm proxy.\n ws_proxy.onopen();\n\n fig.parent_element = element;\n fig.cell_info = mpl.find_output_cell(\"
\");\n if (!fig.cell_info) {\n console.error('Failed to find cell for figure', id, fig);\n return;\n }\n fig.cell_info[0].output_area.element.on(\n 'cleared',\n { fig: fig },\n fig._remove_fig_handler\n );\n};\n\nmpl.figure.prototype.handle_close = function (fig, msg) {\n var width = fig.canvas.width / fig.ratio;\n fig.cell_info[0].output_area.element.off(\n 'cleared',\n fig._remove_fig_handler\n );\n fig.resizeObserverInstance.unobserve(fig.canvas_div);\n\n // Update the output cell to use the data from the current canvas.\n fig.push_to_output();\n var dataURL = fig.canvas.toDataURL();\n // Re-enable the keyboard manager in IPython - without this line, in FF,\n // the notebook keyboard shortcuts fail.\n IPython.keyboard_manager.enable();\n fig.parent_element.innerHTML =\n '';\n fig.close_ws(fig, msg);\n};\n\nmpl.figure.prototype.close_ws = function (fig, msg) {\n fig.send_message('closing', msg);\n // fig.ws.close()\n};\n\nmpl.figure.prototype.push_to_output = function (_remove_interactive) {\n // Turn the data on the canvas into data in the output cell.\n var width = this.canvas.width / this.ratio;\n var dataURL = this.canvas.toDataURL();\n this.cell_info[1]['text/html'] =\n '';\n};\n\nmpl.figure.prototype.updated_canvas_event = function () {\n // Tell IPython that the notebook contents must change.\n IPython.notebook.set_dirty(true);\n this.send_message('ack', {});\n var fig = this;\n // Wait a second, then push the new image to the DOM so\n // that it is saved nicely (might be nice to debounce this).\n setTimeout(function () {\n fig.push_to_output();\n }, 1000);\n};\n\nmpl.figure.prototype._init_toolbar = function () {\n var fig = this;\n\n var toolbar = document.createElement('div');\n toolbar.classList = 'btn-toolbar';\n this.root.appendChild(toolbar);\n\n function on_click_closure(name) {\n return function (_event) {\n return fig.toolbar_button_onclick(name);\n };\n }\n\n function on_mouseover_closure(tooltip) {\n return function (event) {\n if (!event.currentTarget.disabled) {\n return fig.toolbar_button_onmouseover(tooltip);\n }\n };\n }\n\n fig.buttons = {};\n var buttonGroup = document.createElement('div');\n buttonGroup.classList = 'btn-group';\n var button;\n for (var toolbar_ind in mpl.toolbar_items) {\n var name = mpl.toolbar_items[toolbar_ind][0];\n var tooltip = mpl.toolbar_items[toolbar_ind][1];\n var image = mpl.toolbar_items[toolbar_ind][2];\n var method_name = mpl.toolbar_items[toolbar_ind][3];\n\n if (!name) {\n /* Instead of a spacer, we start a new button group. */\n if (buttonGroup.hasChildNodes()) {\n toolbar.appendChild(buttonGroup);\n }\n buttonGroup = document.createElement('div');\n buttonGroup.classList = 'btn-group';\n continue;\n }\n\n button = fig.buttons[name] = document.createElement('button');\n button.classList = 'btn btn-default';\n button.href = '#';\n button.title = name;\n button.innerHTML = '';\n button.addEventListener('click', on_click_closure(method_name));\n button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n buttonGroup.appendChild(button);\n }\n\n if (buttonGroup.hasChildNodes()) {\n toolbar.appendChild(buttonGroup);\n }\n\n // Add the status bar.\n var status_bar = document.createElement('span');\n status_bar.classList = 'mpl-message pull-right';\n toolbar.appendChild(status_bar);\n this.message = status_bar;\n\n // Add the close button to the window.\n var buttongrp = document.createElement('div');\n buttongrp.classList = 'btn-group inline pull-right';\n button = document.createElement('button');\n button.classList = 'btn btn-mini btn-primary';\n button.href = '#';\n button.title = 'Stop Interaction';\n button.innerHTML = '';\n button.addEventListener('click', function (_evt) {\n fig.handle_close(fig, {});\n });\n button.addEventListener(\n 'mouseover',\n on_mouseover_closure('Stop Interaction')\n );\n buttongrp.appendChild(button);\n var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n titlebar.insertBefore(buttongrp, titlebar.firstChild);\n};\n\nmpl.figure.prototype._remove_fig_handler = function (event) {\n var fig = event.data.fig;\n if (event.target !== this) {\n // Ignore bubbled events from children.\n return;\n }\n fig.close_ws(fig, {});\n};\n\nmpl.figure.prototype._root_extra_style = function (el) {\n el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n};\n\nmpl.figure.prototype._canvas_extra_style = function (el) {\n // this is important to make the div 'focusable\n el.setAttribute('tabindex', 0);\n // reach out to IPython and tell the keyboard manager to turn it's self\n // off when our div gets focus\n\n // location in version 3\n if (IPython.notebook.keyboard_manager) {\n IPython.notebook.keyboard_manager.register_events(el);\n } else {\n // location in version 2\n IPython.keyboard_manager.register_events(el);\n }\n};\n\nmpl.figure.prototype._key_event_extra = function (event, _name) {\n // Check for shift+enter\n if (event.shiftKey && event.which === 13) {\n this.canvas_div.blur();\n // select the cell after this one\n var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n IPython.notebook.select(index + 1);\n }\n};\n\nmpl.figure.prototype.handle_save = function (fig, _msg) {\n fig.ondownload(fig, null);\n};\n\nmpl.find_output_cell = function (html_output) {\n // Return the cell and output element which can be found *uniquely* in the notebook.\n // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n // IPython event is triggered only after the cells have been serialised, which for\n // our purposes (turning an active figure into a static one), is too late.\n var cells = IPython.notebook.get_cells();\n var ncells = cells.length;\n for (var i = 0; i < ncells; i++) {\n var cell = cells[i];\n if (cell.cell_type === 'code') {\n for (var j = 0; j < cell.output_area.outputs.length; j++) {\n var data = cell.output_area.outputs[j];\n if (data.data) {\n // IPython >= 3 moved mimebundle to data attribute of output\n data = data.data;\n }\n if (data['text/html'] === html_output) {\n return [cell, data, j];\n }\n }\n }\n }\n};\n\n// Register the function which deals with the matplotlib target/channel.\n// The kernel may be null if the page has been refreshed.\nif (IPython.notebook.kernel !== null) {\n IPython.notebook.kernel.comm_manager.register_target(\n 'matplotlib',\n mpl.mpl_figure_comm\n );\n}\n", "text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "text/html": [ "" ], "text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "anim = animate_episode(predictor_data[episode_id][\"solver_info\"], predictor_data[episode_id][\"ado_position_future\"], predictor_data[episode_id][\"ado_unbiased_predictions\"])\n", "anim.save(os.path.join(stats_dir, f\"ep_{episode_id}_predictor.mp4\"), writer=\"ffmpeg\")" ] }, { "cell_type": "code", "execution_count": null, "id": "39c17b02", "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "id": "144aec04", "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "id": "b5dbaa75", "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "id": "a86d7330", "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "id": "da0e8629", "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "id": "342b6e50", "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "id": "11cf1be2", "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.13" }, "vscode": { "interpreter": { "hash": "a1479098f155d52cde87e35cb1613d4d825087d81bb03677a9d084ad747a84cc" } } }, "nbformat": 4, "nbformat_minor": 5 }