Provide the settings file as a command line argument when running main

guided_mrmp/main.py

@@ -94,11 +94,19 @@ def initialize_robots(starts, goals, dynamics_models, radii, target_v, env):
 
 
 if __name__ == "__main__":
+
+    # get the name of the settings file from the command line
+    import sys
+    if len(sys.argv) < 2:
+        print("Using default settings file")
+        settings_file = "settings_files/settings.yaml"
+
+    else: settings_file = sys.argv[1]
+
     # Load the settings
-    settings = load_settings("settings_files/settings.yaml")
+    settings = load_settings(settings_file)
 
     set_python_seed(1123)
-    # set_python_seed(11235813)
 
     # Load and create the environment
     circle_obstacles = settings['environment']['circle_obstacles']
@@ -109,7 +117,6 @@ if __name__ == "__main__":
 
     # Load the dynamics models
     dynamics_models_st = settings['dynamics_models']
-
     dynamics_models = []
     for model in dynamics_models_st:
         dynamics_models.append(class_function_names_dict[model](settings))
@@ -119,13 +126,13 @@ if __name__ == "__main__":
     robot_goals = settings['robot_goals']
     robot_radii = settings['robot_radii']
     target_v = settings['target_v']
-    if robot_starts == []:
+    if robot_starts == []: # if no starts and goals are provided, create random ones
         robot_starts, robot_goals = create_random_starts_and_goals(env, len(robot_radii))
     robots = initialize_robots(robot_starts, robot_goals, dynamics_models, robot_radii, target_v, env)
 
     # Load the libraries
     libs = initialize_libraries()
-    
+
     # Create the Guided MRMP policy
     T = settings['prediction_horizon']
     DT = settings['discretization_step']