config['multiMapProbs'] = [1.0]
with open('config_test.json', 'w') as f:
json.dump(config, f)
agent.env = ActiveParticle3DEnv('config_test.json', 1,
obstacleConstructorCallBack)
dynamicObsMover = DynamicObstacleMover(agent.env)
targets = [[0, 0, 499]]
finalTarget = [0, 0, 499]
nTargets = len(targets)
nTraj = 2
endStep = 500
guide = PathGuiderStraightLine()
recorder = []
for i in range(nTraj):
print(i)
target = guide.getTrajPos()
agent.env.config['targetState'] = target
state = agent.env.reset()
dynamicObsMover.initialize()
dynamicObsMover.saveObstacles()
done = False
rewardSum = 0
stepCount = 0
info = [i, stepCount] + agent.env.currentState.tolist(
) + agent.env.targetState.tolist() + [0.0 for _ in range(N_A)]
config['multiMapProbs'] = [1.0]
with open('config_test.json', 'w') as f:
json.dump(config, f)
agent.env = ActiveParticle3DEnv('config_test.json', 1,
obstacleConstructorCallBack)
finalTarget = [0, 0, 499]
nTraj = 20
endStep = 500
recorder = []
guide = PathGuiderStraightLine()
for i in range(nTraj):
print(i)
guide.reset()
target = guide.getTrajPos()
agent.env.config['targetState'] = target
state = agent.env.reset()
done = False
rewardSum = 0
stepCount = 0
info = [i, stepCount] + agent.env.currentState.tolist(
) + agent.env.targetState.tolist() + [0.0 for _ in range(N_A)]
recorder.append(info)
for stepCount in range(endStep):
config['vesselCapFlag'] = False
with open('config_test.json', 'w') as f:
json.dump(config, f)
agent.env = ActiveParticle3DEnv('config_test.json', 1,
obstacleConstructorCallBack)
finalTarget = [0, 0, 599]
nTraj = 5
endStep = 500
recorder = []
guide = PathGuiderStraightLine()
for i in range(nTraj):
print(i)
guide.reset()
guide.set_t(7)
target = guide.getTrajPos()
agent.env.config['targetState'] = target
state = agent.env.reset()
done = False
rewardSum = 0
stepCount = 0
info = [i, stepCount] + agent.env.currentState.tolist(
) + agent.env.targetState.tolist() + [0.0 for _ in range(N_A)]
recorder.append(info)