added option to skip live plots

Author: FedeClaudi

proj/environment/manager.py

@@ -148,7 +148,9 @@ def _upload_to_dropbox(self):
     def conclude(self):
         self._log_conf()
         self._save_results()
-        self._save_video()
+
+        if self.model.PLOT_LIVE:
+            self._save_video()
 
         # save summary plot
         plot_results(

proj/environment/plotter.py

@@ -37,6 +37,8 @@ def make_figure(self):
 
         self.accel_ax = self.f.add_subplot(gs[0, 4])
 
+        self.goal_ax = self.f.add_subplot(gs[0, 5])
+
         self.cost_ax = self.f.add_subplot(gs[1, 4:])
 
         clean_axes(self.f)
@@ -236,6 +238,12 @@ def _plot_cost(self, keep_s=1.2):
                 )
         ax.legend()
 
+    # def _plot_goal(self, goal):
+    #     goal = self.model._goal(*goal)
+    #     x = self.model.curr_x
+
+    #     for k in self.model.curr_x._fields:
+
     def visualize_world_live(self, curr_goals, elapsed=None):
         ax = self.xy_ax
         ax.clear()

proj/environment/world.py

@@ -173,4 +173,5 @@ def update_world(self, curr_goals, elapsed=None):
         self.model_position_world = self.model_position_history_world[-1]
 
         # Update plots
-        self.visualize_world_live(curr_goals, elapsed=elapsed)
+        if self.model.LIVE_PLOT:
+            self.visualize_world_live(curr_goals, elapsed=elapsed)

proj/model/config.py

@@ -3,8 +3,10 @@
 
 class Config:
     SIMULATION_NAME = ""
+
     USE_FAST = True  # if true use cumba's methods
     SPAWN_TYPE = "trajectory"
+    LIVE_PLOT = False
 
     # ----------------------------- Simulation params ---------------------------- #
     dt = 0.005