From 5556da7e117d9d8f98b006274c52046bac9437c3 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Sun, 5 Jan 2025 14:31:26 -0600
Subject: [PATCH] Provide the settings file as a command line argument when
running main
---
guided_mrmp/main.py | 17 ++++++++++++-----
1 file changed, 12 insertions(+), 5 deletions(-)
diff --git a/guided_mrmp/main.py b/guided_mrmp/main.py
index f46eaf4..85d4003 100644
--- a/guided_mrmp/main.py
+++ b/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']
--
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