readme updated for headless instructions

3 years ago · c4e3128be5
2 changed files with 4 additions and 182 deletions
--- a/Demo.ipynb
+++ b/Demo.ipynb
@ -1,182 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "eae51654-4ccf-44ed-aaac-f1d993d7e4a1",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import matplotlib.pyplot as plt\n",
-    "from pyvirtualdisplay import Display\n",
-    "display = Display(visible=0, size=(1400, 900))\n",
-    "display.start()\n",
-    "\n",
-    "is_ipython = 'inline' in plt.get_backend()\n",
-    "if is_ipython:\n",
-    "    from IPython import display\n",
-    "\n",
-    "plt.ion()\n",
-    "\n",
-    "# Load the gym environment"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "be872e01-e4fd-4940-874e-d46e97fb3519",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import gym\n",
-    "import random\n",
-    "%matplotlib inline\n",
-    "\n",
-    "env = gym.make('LunarLander-v2')\n",
-    "env.seed(23)\n",
-    "\n",
-    "# Let's watch how an untrained agent moves around\n",
-    "\n",
-    "state = env.reset()\n",
-    "img = plt.imshow(env.render(mode='rgb_array'))\n",
-    "for j in range(200):\n",
-    "#     action = agent.act(state)\n",
-    "    action = random.choice(range(4))\n",
-    "    img.set_data(env.render(mode='rgb_array')) \n",
-    "    plt.axis('off')\n",
-    "    display.display(plt.gcf())\n",
-    "    display.clear_output(wait=True)\n",
-    "    state, reward, done, _ = env.step(action)\n",
-    "    if done:\n",
-    "        break\n",
-    "\n",
-    "env.close()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 3,
-   "id": "a9506e99-a947-4f69-8355-a3ce696793fa",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from main import train, test"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 4,
-   "id": "de500d9e-40d1-4b6b-900f-96c2ec69e464",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "data = pickle.load(open(\"data.pkl\", \"rb\"))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 5,
-   "id": "39ca7791-c844-4231-9f3b-e8ae80fe8103",
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "MUD Point 346: [-0.08422888 -0.51024105 -0.3617006  -0.53822353]\n"
-     ]
-    }
-   ],
-   "source": [
-    "mud_point = train(data)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 6,
-   "id": "8d8c70ab-d055-418c-b67e-ba5109d989f3",
-   "metadata": {},
-   "outputs": [
-    {
-     "ename": "KeyboardInterrupt",
-     "evalue": "",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
-      "\u001b[0;32m/tmp/ipykernel_3199/2226980552.py\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mtest\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmud_point\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
-      "\u001b[0;32m~/work/mud-games/main.py\u001b[0m in \u001b[0;36mtest\u001b[0;34m(decision, seed)\u001b[0m\n\u001b[1;32m     50\u001b[0m             \u001b[0mimg\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mset_data\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0menv\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrender\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmode\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m'rgb_array'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     51\u001b[0m             \u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0maxis\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'off'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 52\u001b[0;31m             \u001b[0mdisplay\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdisplay\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgcf\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     53\u001b[0m             \u001b[0mdisplay\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mclear_output\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mwait\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     54\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mdone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/IPython/core/display.py\u001b[0m in \u001b[0;36mdisplay\u001b[0;34m(include, exclude, metadata, transient, display_id, *objs, **kwargs)\u001b[0m\n\u001b[1;32m    318\u001b[0m             \u001b[0mpublish_display_data\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmetadata\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mmetadata\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    319\u001b[0m         \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 320\u001b[0;31m             \u001b[0mformat_dict\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmd_dict\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mformat\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minclude\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0minclude\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mexclude\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mexclude\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    321\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mformat_dict\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    322\u001b[0m                 \u001b[0;31m# nothing to display (e.g. _ipython_display_ took over)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/IPython/core/formatters.py\u001b[0m in \u001b[0;36mformat\u001b[0;34m(self, obj, include, exclude)\u001b[0m\n\u001b[1;32m    178\u001b[0m             \u001b[0mmd\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    179\u001b[0m             \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 180\u001b[0;31m                 \u001b[0mdata\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mformatter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    181\u001b[0m             \u001b[0;32mexcept\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    182\u001b[0m                 \u001b[0;31m# FIXME: log the exception\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/decorator.py\u001b[0m in \u001b[0;36mfun\u001b[0;34m(*args, **kw)\u001b[0m\n\u001b[1;32m    230\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mkwsyntax\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    231\u001b[0m                 \u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mkw\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfix\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mkw\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0msig\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 232\u001b[0;31m             \u001b[0;32mreturn\u001b[0m \u001b[0mcaller\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfunc\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mextras\u001b[0m \u001b[0;34m+\u001b[0m \u001b[0margs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkw\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    233\u001b[0m     \u001b[0mfun\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__name__\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfunc\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__name__\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    234\u001b[0m     \u001b[0mfun\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__doc__\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfunc\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__doc__\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/IPython/core/formatters.py\u001b[0m in \u001b[0;36mcatch_format_error\u001b[0;34m(method, self, *args, **kwargs)\u001b[0m\n\u001b[1;32m    222\u001b[0m     \u001b[0;34m\"\"\"show traceback on failed format call\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    223\u001b[0m     \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 224\u001b[0;31m         \u001b[0mr\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mmethod\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    225\u001b[0m     \u001b[0;32mexcept\u001b[0m \u001b[0mNotImplementedError\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    226\u001b[0m         \u001b[0;31m# don't warn on NotImplementedErrors\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/IPython/core/formatters.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, obj)\u001b[0m\n\u001b[1;32m    339\u001b[0m                 \u001b[0;32mpass\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    340\u001b[0m             \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 341\u001b[0;31m                 \u001b[0;32mreturn\u001b[0m \u001b[0mprinter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    342\u001b[0m             \u001b[0;31m# Finally look for special method names\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    343\u001b[0m             \u001b[0mmethod\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mget_real_method\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mprint_method\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/IPython/core/pylabtools.py\u001b[0m in \u001b[0;36mprint_figure\u001b[0;34m(fig, fmt, bbox_inches, base64, **kwargs)\u001b[0m\n\u001b[1;32m    149\u001b[0m         \u001b[0mFigureCanvasBase\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfig\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    150\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 151\u001b[0;31m     \u001b[0mfig\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcanvas\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mprint_figure\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mbytes_io\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkw\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    152\u001b[0m     \u001b[0mdata\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mbytes_io\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetvalue\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    153\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0mfmt\u001b[0m \u001b[0;34m==\u001b[0m \u001b[0;34m'svg'\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/backend_bases.py\u001b[0m in \u001b[0;36mprint_figure\u001b[0;34m(self, filename, dpi, facecolor, edgecolor, orientation, format, bbox_inches, pad_inches, bbox_extra_artists, backend, **kwargs)\u001b[0m\n\u001b[1;32m   2253\u001b[0m                 \u001b[0;31m# force the figure dpi to 72), so we need to set it again here.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2254\u001b[0m                 \u001b[0;32mwith\u001b[0m \u001b[0mcbook\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_setattr_cm\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfigure\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdpi\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mdpi\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 2255\u001b[0;31m                     result = print_method(\n\u001b[0m\u001b[1;32m   2256\u001b[0m                         \u001b[0mfilename\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2257\u001b[0m                         \u001b[0mfacecolor\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mfacecolor\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/backend_bases.py\u001b[0m in \u001b[0;36mwrapper\u001b[0;34m(*args, **kwargs)\u001b[0m\n\u001b[1;32m   1667\u001b[0m             \u001b[0mkwargs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpop\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0marg\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   1668\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 1669\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0mfunc\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m   1670\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   1671\u001b[0m     \u001b[0;32mreturn\u001b[0m \u001b[0mwrapper\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py\u001b[0m in \u001b[0;36mprint_png\u001b[0;34m(self, filename_or_obj, metadata, pil_kwargs, *args)\u001b[0m\n\u001b[1;32m    506\u001b[0m             \u001b[0;34m*\u001b[0m\u001b[0mmetadata\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mincluding\u001b[0m \u001b[0mthe\u001b[0m \u001b[0mdefault\u001b[0m \u001b[0;34m'Software'\u001b[0m \u001b[0mkey\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    507\u001b[0m         \"\"\"\n\u001b[0;32m--> 508\u001b[0;31m         \u001b[0mFigureCanvasAgg\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    509\u001b[0m         mpl.image.imsave(\n\u001b[1;32m    510\u001b[0m             \u001b[0mfilename_or_obj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mbuffer_rgba\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mformat\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m\"png\"\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0morigin\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m\"upper\"\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py\u001b[0m in \u001b[0;36mdraw\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    404\u001b[0m              (self.toolbar._wait_cursor_for_draw_cm() if self.toolbar\n\u001b[1;32m    405\u001b[0m               else nullcontext()):\n\u001b[0;32m--> 406\u001b[0;31m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfigure\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrenderer\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    407\u001b[0m             \u001b[0;31m# A GUI class may be need to update a window using this draw, so\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    408\u001b[0m             \u001b[0;31m# don't forget to call the superclass.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/artist.py\u001b[0m in \u001b[0;36mdraw_wrapper\u001b[0;34m(artist, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m     72\u001b[0m     \u001b[0;34m@\u001b[0m\u001b[0mwraps\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdraw\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     73\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mdraw_wrapper\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0martist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrenderer\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 74\u001b[0;31m         \u001b[0mresult\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0martist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrenderer\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     75\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_rasterizing\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     76\u001b[0m             \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstop_rasterizing\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/artist.py\u001b[0m in \u001b[0;36mdraw_wrapper\u001b[0;34m(artist, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m     49\u001b[0m                 \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstart_filter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     50\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 51\u001b[0;31m             \u001b[0;32mreturn\u001b[0m \u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0martist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrenderer\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     52\u001b[0m         \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     53\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0martist\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_agg_filter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/figure.py\u001b[0m in \u001b[0;36mdraw\u001b[0;34m(self, renderer)\u001b[0m\n\u001b[1;32m   2788\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2789\u001b[0m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpatch\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrenderer\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 2790\u001b[0;31m             mimage._draw_list_compositing_images(\n\u001b[0m\u001b[1;32m   2791\u001b[0m                 renderer, self, artists, self.suppressComposite)\n\u001b[1;32m   2792\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/image.py\u001b[0m in \u001b[0;36m_draw_list_compositing_images\u001b[0;34m(renderer, parent, artists, suppress_composite)\u001b[0m\n\u001b[1;32m    130\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0mnot_composite\u001b[0m \u001b[0;32mor\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mhas_images\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    131\u001b[0m         \u001b[0;32mfor\u001b[0m \u001b[0ma\u001b[0m \u001b[0;32min\u001b[0m \u001b[0martists\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 132\u001b[0;31m             \u001b[0ma\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrenderer\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    133\u001b[0m     \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    134\u001b[0m         \u001b[0;31m# Composite any adjacent images together\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/artist.py\u001b[0m in \u001b[0;36mdraw_wrapper\u001b[0;34m(artist, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m     49\u001b[0m                 \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstart_filter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     50\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 51\u001b[0;31m             \u001b[0;32mreturn\u001b[0m \u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0martist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrenderer\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     52\u001b[0m         \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     53\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0martist\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_agg_filter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/_api/deprecation.py\u001b[0m in \u001b[0;36mwrapper\u001b[0;34m(*inner_args, **inner_kwargs)\u001b[0m\n\u001b[1;32m    429\u001b[0m                          \u001b[0;32melse\u001b[0m \u001b[0mdeprecation_addendum\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    430\u001b[0m                 **kwargs)\n\u001b[0;32m--> 431\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0mfunc\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0minner_args\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0minner_kwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    432\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    433\u001b[0m     \u001b[0;32mreturn\u001b[0m \u001b[0mwrapper\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/axes/_base.py\u001b[0m in \u001b[0;36mdraw\u001b[0;34m(self, renderer, inframe)\u001b[0m\n\u001b[1;32m   2919\u001b[0m             \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstop_rasterizing\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2920\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 2921\u001b[0;31m         \u001b[0mmimage\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_draw_list_compositing_images\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrenderer\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0martists\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m   2922\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2923\u001b[0m         \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mclose_group\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'axes'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/image.py\u001b[0m in \u001b[0;36m_draw_list_compositing_images\u001b[0;34m(renderer, parent, artists, suppress_composite)\u001b[0m\n\u001b[1;32m    130\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0mnot_composite\u001b[0m \u001b[0;32mor\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mhas_images\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    131\u001b[0m         \u001b[0;32mfor\u001b[0m \u001b[0ma\u001b[0m \u001b[0;32min\u001b[0m \u001b[0martists\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 132\u001b[0;31m             \u001b[0ma\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrenderer\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    133\u001b[0m     \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    134\u001b[0m         \u001b[0;31m# Composite any adjacent images together\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/artist.py\u001b[0m in \u001b[0;36mdraw_wrapper\u001b[0;34m(artist, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m     49\u001b[0m                 \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstart_filter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     50\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 51\u001b[0;31m             \u001b[0;32mreturn\u001b[0m \u001b[0mdraw\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0martist\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrenderer\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     52\u001b[0m         \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     53\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0martist\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_agg_filter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/image.py\u001b[0m in \u001b[0;36mdraw\u001b[0;34m(self, renderer, *args, **kwargs)\u001b[0m\n\u001b[1;32m    638\u001b[0m                 \u001b[0mrenderer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdraw_image\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mgc\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0ml\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mb\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mim\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtrans\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    639\u001b[0m         \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 640\u001b[0;31m             im, l, b, trans = self.make_image(\n\u001b[0m\u001b[1;32m    641\u001b[0m                 renderer, renderer.get_image_magnification())\n\u001b[1;32m    642\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0mim\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/image.py\u001b[0m in \u001b[0;36mmake_image\u001b[0;34m(self, renderer, magnification, unsampled)\u001b[0m\n\u001b[1;32m    924\u001b[0m         clip = ((self.get_clip_box() or self.axes.bbox) if self.get_clip_on()\n\u001b[1;32m    925\u001b[0m                 else self.figure.bbox)\n\u001b[0;32m--> 926\u001b[0;31m         return self._make_image(self._A, bbox, transformed_bbox, clip,\n\u001b[0m\u001b[1;32m    927\u001b[0m                                 magnification, unsampled=unsampled)\n\u001b[1;32m    928\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/image.py\u001b[0m in \u001b[0;36m_make_image\u001b[0;34m(self, A, in_bbox, out_bbox, clip_bbox, magnification, unsampled, round_to_pixel_border)\u001b[0m\n\u001b[1;32m    549\u001b[0m                 output_alpha = _resample(  # resample alpha channel\n\u001b[1;32m    550\u001b[0m                     self, A[..., 3], out_shape, t, alpha=alpha)\n\u001b[0;32m--> 551\u001b[0;31m                 output = _resample(  # resample rgb channels\n\u001b[0m\u001b[1;32m    552\u001b[0m                     self, _rgb_to_rgba(A[..., :3]), out_shape, t, alpha=alpha)\n\u001b[1;32m    553\u001b[0m                 \u001b[0moutput\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m...\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m3\u001b[0m\u001b[0;34m]\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0moutput_alpha\u001b[0m  \u001b[0;31m# recombine rgb and alpha\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;32m/opt/conda/lib/python3.9/site-packages/matplotlib/image.py\u001b[0m in \u001b[0;36m_resample\u001b[0;34m(image_obj, data, out_shape, transform, resample, alpha)\u001b[0m\n\u001b[1;32m    191\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0mresample\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    192\u001b[0m         \u001b[0mresample\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mimage_obj\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_resample\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 193\u001b[0;31m     _image.resample(data, out, transform,\n\u001b[0m\u001b[1;32m    194\u001b[0m                     \u001b[0m_interpd_\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0minterpolation\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    195\u001b[0m                     \u001b[0mresample\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 1 Axes>"
-      ]
-     },
-     "metadata": {
-      "needs_background": "light"
-     },
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "test(mud_point)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "85c79a93-77c6-4b9b-b19f-da04ba1afbc7",
-   "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": "3.9.7"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 5
-}
--- a/README.md
+++ b/README.md
@ -45,3 +45,7 @@ Using the following presumptions, we can establish better values for the "data v

 > The angular momentum of the pole is the most important thing to stabilize.

+# headless mode
+
+Run `./headless.sh` (requires `sudo`) to install virtual displays so you can view results in a Jupyter notebook.
+