2D quad.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "7d76bd6a",
   "metadata": {},
   "outputs": [],
   "source": [
    "import torch\n",
    "import stable_baselines3\n",
    "import sys\n",
    "\n",
    "print(\"python version:\", sys.version)\n",
    "print(\"stable_baselines3 version:\", stable_baselines3.__version__)\n",
    "print(\"torch version:\", torch.__version__)\n",
    "print(\"cuda available:\", torch.cuda.is_available())\n",
    "print(\"cuda version:\", torch.version.cuda)\n",
    "print(\"cudnn version:\", torch.backends.cudnn.version())"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "id": "c969841e",
   "metadata": {},
   "source": [
    "# 2D Quadcopter Gym Environment"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "2f04805f",
   "metadata": {},
   "outputs": [],
   "source": [
    "import gym\n",
    "from gym import spaces\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import cv2\n",
    "\n",
    "class QuadcopterEnv(gym.Env):\n",
    "    def __init__(self):\n",
    "        # Define the action space and observation space\n",
    "        self.action_space = spaces.MultiBinary(2) #spaces.Box(low=0, high=1, shape=(2,))\n",
    "        self.observation_space = spaces.Box(low=-np.inf, high=np.inf, shape=(6,))\n",
    "\n",
    "        # Define any other environment-specific parameters\n",
    "        self.max_steps = 500  # Maximum number of steps in an episode\n",
    "        self.dt = 0.01  # Time step duration\n",
    "        self.goal_threshold = 0.1  # Threshold for considering the goal reached\n",
    "\n",
    "        # Define any other necessary variables\n",
    "        self.state = np.zeros(6)\n",
    "        self.step_count = 0\n",
    "\n",
    "        # Initialize the display window\n",
    "        self.window_created = False\n",
    "        self.window_name = \"Quadcopter Position\"\n",
    "        self.img_size = 800\n",
    "        self.scale = self.img_size / 20.0\n",
    "        self.action = (0, 0)\n",
    "\n",
    "        # videowriter\n",
    "        fourcc = cv2.VideoWriter_fourcc(*'mp4v')\n",
    "        self.writer = cv2.VideoWriter('output.mp4', fourcc, 100, (self.img_size, self.img_size))\n",
    "        self.recording = False\n",
    "\n",
    "    def reset(self):\n",
    "        # Initialize the state and step count\n",
    "        x0     = np.random.uniform(-5,5)\n",
    "        y0     = np.random.uniform(-5,5)\n",
    "        vx0    = np.random.uniform(-1,1)\n",
    "        vy0    = np.random.uniform(-1,1)\n",
    "        theta0 = np.random.uniform(-1,1)\n",
    "        q0     = np.random.uniform(-1,1)\n",
    "        \n",
    "        self.state = np.array([x0,y0,vx0,vy0,theta0,q0])  # Initial state of the quadcopter\n",
    "        self.step_count = 0\n",
    "        return self.state\n",
    "\n",
    "    def step(self, action):\n",
    "        # Update the state based on the action\n",
    "        u1, u2 = action\n",
    "        x, z, vx, vz, theta, q = self.state\n",
    "\n",
    "        x += vx * self.dt\n",
    "        z += vz * self.dt\n",
    "        vx += (-0.5 * vx + (-1.51670951156812 * u1 - 1.51670951156812 * u2 - 9.04884318766067) * np.sin(theta)) * self.dt\n",
    "        vz += (-0.5 * vz + (1.51670951156812 * u1 + 1.51670951156812 * u2 + 9.04884318766067) * np.cos(theta) - 9.81) * self.dt\n",
    "        theta += q * self.dt\n",
    "        q += (-38.0032206119163 * u1 + 38.0032206119163 * u2) * self.dt\n",
    "\n",
    "        # Update the state and step count\n",
    "        self.state = np.array([x, z, vx, vz, theta, q])\n",
    "        self.step_count += 1\n",
    "\n",
    "        # Update the action (for rendering purposes)\n",
    "        self.action = action\n",
    "\n",
    "        # Calculate the reward\n",
    "        reward = -0.1 * x**2 - 0.1 * z**2\n",
    "        \n",
    "        goal_reached = np.linalg.norm(self.state) < self.goal_threshold\n",
    "        if goal_reached:\n",
    "            reward = 100\n",
    "        \n",
    "        out_of_bound = np.abs(x) > 10 or np.abs(z) > 10\n",
    "        if out_of_bound:\n",
    "            reward = -100\n",
    "\n",
    "        # Check if the episode is done\n",
    "        done = self.step_count >= self.max_steps or goal_reached or out_of_bound\n",
    "\n",
    "        return self.state, reward, done, {}\n",
    "    \n",
    "    def map_to_image(self, x, z):\n",
    "        # Map the quadcopter's position to the image coordinates\n",
    "        x = int(x * self.scale + self.img_size / 2)\n",
    "        z = int(self.img_size - z * self.scale - self.img_size / 2)\n",
    "        return x, z\n",
    "\n",
    "    def render(self, mode='human'):\n",
    "        if not self.window_created:\n",
    "            # Create the named window and move it to a specific location\n",
    "            cv2.namedWindow(self.window_name)\n",
    "            self.window_created = True\n",
    "        # Create a black image as the background\n",
    "        image = 255*np.ones((self.img_size, self.img_size, 3), dtype=np.uint8)\n",
    "\n",
    "        # Define left and right motors' positions\n",
    "        x, z, vx, vz, theta, q = self.state\n",
    "        length = 0.2 # Length of the quadcopter's arm\n",
    "        direction = np.array([np.cos(theta), np.sin(theta)])\n",
    "        left_motor = np.array([x, z]) - length * direction\n",
    "        right_motor = np.array([x, z]) + length * direction\n",
    "\n",
    "        # Define the thrust vectors\n",
    "        u1, u2 = self.action\n",
    "        left_thrust = u1*np.array([np.cos(theta+np.pi/2), np.sin(theta+np.pi/2)])*length\n",
    "        right_thrust = u2*np.array([np.cos(theta+np.pi/2), np.sin(theta+np.pi/2)])*length\n",
    "\n",
    "        # Draw the quadcopter as a line segment\n",
    "        x1, z1 = self.map_to_image(left_motor[0], left_motor[1])\n",
    "        x2, z2 = self.map_to_image(right_motor[0], right_motor[1])\n",
    "        \n",
    "        # Draw cross in the origin\n",
    "        size = 0.2\n",
    "        cv2.line(image, self.map_to_image(0,size), self.map_to_image(0, -size), (200, 200, 200), 2)\n",
    "        cv2.line(image, self.map_to_image(size,0), self.map_to_image(-size, 0), (200, 200, 200), 2)\n",
    "\n",
    "        # Draw the action as an arrow\n",
    "        cv2.arrowedLine(image, (x1, z1), (x1+int(left_thrust[0]*self.scale), z1-int(left_thrust[1]*self.scale)), (0, 0, 255), 2)\n",
    "        cv2.arrowedLine(image, (x2, z2), (x2+int(right_thrust[0]*self.scale), z2-int(right_thrust[1]*self.scale)), (0, 0, 255), 2)\n",
    "        cv2.line(image, (x1, z1), (x2, z2), (255, 0, 0), 2)\n",
    "\n",
    "        key = cv2.waitKeyEx(1)\n",
    "\n",
    "        # Check if the \"Esc\" key is pressed\n",
    "        if key == 27:  # 27 is the ASCII code for the \"Esc\" key\n",
    "            cv2.destroyAllWindows()\n",
    "            self.window_created = False\n",
    "            raise KeyboardInterrupt(\"Esc key pressed\")\n",
    "        # record if 'r' is pressed\n",
    "        if key == ord('r'):\n",
    "            self.recording = not self.recording\n",
    "            if self.recording:\n",
    "                print(\"Recording started\")\n",
    "            else:\n",
    "                self.writer.release()\n",
    "        if self.recording:\n",
    "            self.writer.write(image)\n",
    "            # write text on the image\n",
    "            cv2.putText(image, \"Recording\", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)\n",
    "\n",
    "        # Show the image in the OpenCV window\n",
    "        cv2.imshow(self.window_name, image)\n",
    "        return image\n",
    "    \n",
    "    def get_drone_state(self):\n",
    "        # Outputs a dict containing all information for rendering\n",
    "        state_dict = dict(zip(['x', 'z', 'vx', 'vz', 'theta', 'q'], self.state))\n",
    "        u1, u2 = self.action\n",
    "        action = u2, u2, u1, u1 \n",
    "        action_dict = dict(zip(['u1', 'u2', 'u3', 'u4'], action))\n",
    "        return {**state_dict, **action_dict}"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "id": "a6cd1865",
   "metadata": {},
   "source": [
    "# Define and Train the PPO agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "649ca771",
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "import os\n",
    "from stable_baselines3 import PPO\n",
    "from stable_baselines3.common.env_util import make_vec_env\n",
    "from datetime import datetime\n",
    "\n",
    "models_dir = 'models/ppo_2Dquad'\n",
    "log_dir = 'logs/ppo_2Dquad'\n",
    "\n",
    "if not os.path.exists(models_dir):\n",
    "    os.makedirs(models_dir)\n",
    "if not os.path.exists(log_dir):\n",
    "    os.makedirs(log_dir)\n",
    "\n",
    "# Date and time string for unique folder names\n",
    "datetime_str = datetime.now().strftime(\"%Y%m%d-%H%M%S\")\n",
    "\n",
    "# Create SubprocVecEnv for parallelization\n",
    "env = make_vec_env(lambda: QuadcopterEnv(), n_envs=20)\n",
    "\n",
    "# ReLU net with 3 hidden layers of size 120\n",
    "policy_kwargs = dict(activation_fn=torch.nn.ReLU, net_arch=[120, 120, 120])\n",
    "model = PPO(\"MlpPolicy\", env, policy_kwargs=policy_kwargs, verbose=0, tensorboard_log=log_dir)\n",
    "\n",
    "# Model summary\n",
    "print(model.policy)\n",
    "\n",
    "# Train the agent\n",
    "TIMESTEPS = 10000\n",
    "for i in range(1,100):\n",
    "    model.learn(total_timesteps=TIMESTEPS, reset_num_timesteps=False, tb_log_name='PPO_'+datetime_str)\n",
    "    model.save(models_dir + '/PPO_' + datetime_str + '/' + str(i))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "1aa7c04c",
   "metadata": {},
   "outputs": [],
   "source": [
    "from stable_baselines3 import PPO\n",
    "folder = 'models/ppo_2Dquad/PPO_20230627-180454'\n",
    "env = QuadcopterEnv()\n",
    "model = PPO.load(folder + \"/999\", env=env)\n",
    "\n",
    "episodes = 100\n",
    "\n",
    "for ep in range(episodes):\n",
    "\tobs = env.reset()\n",
    "\tdone = False\n",
    "\twhile True:\n",
    "\t\t# pass observation to model to get predicted action\n",
    "\t\taction, _states = model.predict(obs)\n",
    "\n",
    "\t\t# pass action to env and get info back\n",
    "\t\tobs, rewards, done, info = env.step(action)\n",
    "\t\t\n",
    "\t\t# reset if done\n",
    "\t\tif done:\n",
    "\t\t\tobs = env.reset()\n",
    "\n",
    "\t\t# reset env if 'r' key is pressed\n",
    "\t\t# if cv2.waitKey(1) & 0xFF == ord('r') or done:\n",
    "\t\t# \tobs = env.reset()\n",
    "\t\t\t\n",
    "\t\t# show the environment on the screen\n",
    "\t\tenv.render()\n",
    "env.close()\n",
    "cv2.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "76b2e081",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n",
      "QObject::moveToThread: Current thread (0x691245c0) is not the object's thread (0xbb32f260).\n",
      "Cannot move to target thread (0x691245c0)\n",
      "\n"
     ]
    }
   ],
   "source": [
    "from quadcopter_animation import animation\n",
    "# Run the trained agent\n",
    "env.reset()\n",
    "done = False\n",
    "\n",
    "def run():\n",
    "    global done\n",
    "    if done:\n",
    "        env.reset()\n",
    "    # try model predict and otherwise print env.state\n",
    "    try:\n",
    "        action, _ = model.predict(env.state)\n",
    "    except:\n",
    "        print(env.state)\n",
    "        raise Exception(\"Model prediction failed\")\n",
    "    state, reward, done, _ = env.step(action)\n",
    "    return env.get_drone_state()\n",
    "\n",
    "animation.view(run)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "70a39d53",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "0babda02",
   "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": "3.10.11"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}