examples/envs/cartpole_simulink/cartpole_simulink.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "from cartpole_simulink import CartPoleSimulink\n",
    "\n",
    "from simulink_gym import logger, setLoggerLevel\n",
    "\n",
    "setLoggerLevel(logger, \"DEBUG\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Create training environment:\n",
    "env = CartPoleSimulink(stop_time=30, model_debug=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Reset environment:\n",
    "state = env.reset()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Execute single step in the environment:\n",
    "action = env.action_space.sample()\n",
    "state, reward, terminated, truncated, info = env.step(action)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Test agent:\n",
    "trajectory = []\n",
    "sim_time = []\n",
    "actions = []\n",
    "done = False\n",
    "while not done:\n",
    "    action = env.action_space.sample()\n",
    "    state, reward, terminated, truncated, info = env.step(action)\n",
    "    trajectory.append(state)\n",
    "    sim_time.append(info[\"simulation time [s]\"])\n",
    "    actions.append(action)\n",
    "    done = terminated or truncated\n",
    "\n",
    "plt.plot(sim_time, trajectory)\n",
    "plt.xlabel(\"Time [s]\")\n",
    "plt.legend([\"Cart Position\", \"Cart Velocity\", \"Pole Angle\", \"Pole Angular Velocity\"])\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Stop the current episode:\n",
    "env.stop_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Close environment:\n",
    "env.close()"
   ]
  }
 ],
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