def main():
parser = argparse.ArgumentParser()
parser.add_argument("--output", "-o", required=True)
parser.add_argument("--nduckies", type=int, required=True)
parser.add_argument("--ntiles", type=int, required=True)
parser.add_argument("--scenario-name", type=str, required=True)
parsed = parser.parse_args()
scenario_name = parsed.scenario_name
scenario = get_base_scenario(scenario_name=scenario_name,
nduckies=parsed.nduckies,
ntiles=parsed.ntiles)
scenario_struct = ipce_from_object(scenario, Scenario, ieso=ieso)
scenario_yaml = yaml.dump(scenario_struct)
filename = parsed.output
write_ustring_to_utf8_file(scenario_yaml, filename)
def make_scenario_main(args=None):
setup_logging()
parser = argparse.ArgumentParser()
parser.add_argument("--config", help="Configuration", required=True)
parser.add_argument("-o", "--output", help="Destination directory", required=True)
parser.add_argument("-n", "--num", type=int, help="Number of scenarios to generate", required=True)
parsed = parser.parse_args(args=args)
config: str = parsed.config
basename = os.path.basename(config).split(".")[0]
data = read_ustring_from_utf8_file(config)
interpreted = yaml.load(data, Loader=yaml.Loader)
n: int = parsed.num
output: str = parsed.output
params = object_from_ipce(interpreted, ScenarioGenerationParam, iedo=iedo)
for i in range(n):
scenario_name = f"{basename}-{i:03d}"
yaml_str = _get_map_yaml(params.map_name)
scenario = make_scenario(
yaml_str=yaml_str,
scenario_name=scenario_name,
only_straight=params.only_straight,
min_dist=params.min_dist,
delta_y_m=params.delta_y_m,
robots_npcs=params.robots_npcs,
robots_parked=params.robots_parked,
robots_pcs=params.robots_parked,
nduckies=params.nduckies,
duckie_min_dist_from_other_duckie=params.duckie_min_dist_from_other_duckie,
duckie_min_dist_from_robot=params.duckie_min_dist_from_robot,
duckie_y_bounds=params.duckie_y_bounds,
delta_theta_rad=np.deg2rad(params.theta_tol_deg),
)
scenario_struct = ipce_from_object(scenario, Scenario, ieso=ieso)
scenario_yaml = yaml.dump(scenario_struct)
filename = os.path.join(output, f"{scenario_name}.scenario.yaml")
write_ustring_to_utf8_file(scenario_yaml, filename)
dm = interpret_scenario(scenario)
output_dir = os.path.join(output, scenario_name)
dw.draw_static(dm, output_dir=output_dir)
export_gltf(dm, output_dir, background=False)
def as_dict(self):
data = {}
data["challenge"] = self.name
data["title"] = self.title
data["description"] = self.description
data["protocol"] = self.protocol
data["date-open"] = self.date_open.isoformat(
) if self.date_open else None
data["date-close"] = self.date_close.isoformat(
) if self.date_close else None
# data['roles'] = self.roles
data["transitions"] = self.ct.as_list()
steps = {}
for k, v in self.steps.items():
steps[k] = v.as_dict()
data["steps"] = steps
data["closure"] = self.closure
data["tags"] = self.tags
data["scoring"] = Scoring_as_dict(self.scoring)
data["dependencies"] = ipce_from_object(self.dependencies,
Dict[str, ChallengeDependency])
return data
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--output", "-o", required=True)
parser.add_argument("--config", type=str, required=True)
parser.add_argument("--seed", type=int, required=True)
parser.add_argument("--ntilesx", type=int, required=True)
parser.add_argument("--ntilesy", type=int, required=True)
parser.add_argument("--scenario-name", type=str, required=True)
parser.add_argument("--duckie-duckie-dist", type=float, default=0.3)
parsed = parser.parse_args()
scenario_name = parsed.scenario_name
scenario = get_base_scenario(
scenario_name=scenario_name,
nduckies=parsed.nduckies,
ntiles=parsed.ntiles,
min_dist_from_other_duckie=parsed.duckie_duckie_dist,
)
scenario_struct = ipce_from_object(scenario, Scenario, ieso=ieso)
scenario_yaml = yaml.dump(scenario_struct)
filename = parsed.output
write_ustring_to_utf8_file(scenario_yaml, filename)
def write_to_file(fn: str, ob: object, K: type):
i = ipce_from_object(ob, K, ieso=IESO(with_schema=False))
s = yaml.dump(i)
# s['challenge'] = 'aido5-LFP-sim-validation'
write_ustring_to_utf8_file(s, fn)
