def generate_config_files(start_i, end_i):
P.initialize_experiment()
for config_num in range(start_i, end_i):
# attempt to space landmarks
config = None
attempts = 0
# It's easier to generate a config with less objects, so to have a truly uniform distribution, we must sample it here.
if FORCE_LANDMARK_SELECTION:
num_objects = len(FORCE_LANDMARK_SELECTION)
else:
num_objects = int(random.uniform(MIN_NUM_OBJECTS, MAX_NUM_OBJECTS))
print("making config %d with %d objects" % (config_num, num_objects))
while True:
config = try_make_config(num_objects)
attempts += 1
sys.stdout.write("\r Attempts: " + str(attempts))
if config is not None:
print("")
break
if MAKE_LAKES:
config = add_lake_to_config(config, X_RANGE, Y_RANGE)
path = paths.get_env_config_path(config_num)
os.makedirs(os.path.dirname(path), exist_ok=True)
with open(path, 'w') as fp:
json.dump(config, fp)
def make_config_with_landmark(landmark_name=None, num_objects=10):
config = None
while config is None:
while config is None:
config = try_make_config(num_objects, landmark_name)
config = add_lake_to_config(config, X_RANGE, Y_RANGE)
pos_x = config["xPos"][0]
pos_z = config["zPos"][0]
return config, pos_x, pos_z
def main(start_i, end_i, config_type):
P.initialize_experiment()
for config_num in range(start_i, end_i):
# attempt to space landmarks
config = None
attempts = 0
# It's easier to generate a config with less objects, so to have a truly uniform distribution, we must sample it here.
num_objects = int(random.uniform(MIN_NUM_OBJECTS, MAX_NUM_OBJECTS))
if FORCE_LANDMARK_SELECTION:
num_objects = len(FORCE_LANDMARK_SELECTION)
print("making config %d with %d objects" % (config_num, num_objects))
while True:
if config_type == ConfigType.RANDOM or config_type == ConfigType.RANDOM_CORNER:
start_pos, start_heading = None, None
if config_type == ConfigType.RANDOM_CORNER:
start_pos, start_heading = pick_drone_start_pos()
config = try_make_config_random(num_objects, start_pos, start_heading)
if config is not None and MAKE_LAKES:
config = add_lake_to_config(config, X_RANGE, Y_RANGE)
elif config_type == ConfigType.CIRCLE_OF_LANDMARKS:
config = try_make_config_circle_of_landmarks(num_objects)
elif config_type == ConfigType.CIRCLE_PERMUTATIONS:
config = try_make_config_circle_permutations(num_objects, config_num)
else:
print ("Invalid config type!" + str(config_type))
quit(-1)
attempts += 1
sys.stdout.write("\r Attemtps: " + str(attempts))
if config is not None:
print("")
break
os.makedirs(paths.get_env_config_dir(), exist_ok=True)
path = os.path.join(paths.get_env_config_path(config_num))
with open(path, 'w') as fp:
json.dump(config, fp)
def generate_config_files(start_i, end_i):
P.initialize_experiment()
config_metadata = {
"all_landmark_names": list(PORTABLE_LANDMARK_RADII.keys()),
"all_landmark_radii": PORTABLE_LANDMARK_RADII,
"new_config_every_n": NEW_CONFIG_EVERY_N
}
os.makedirs(os.path.dirname(paths.get_config_metadata_path()), exist_ok=True)
with open(paths.get_config_metadata_path(), "w") as fp:
json.dump(config_metadata, fp)
config = None
for config_num in range(start_i, end_i):
# attempt to space landmarks
attempts = 0
# It's easier to generate a config with less objects, so to have a truly uniform distribution, we must sample it here.
if FORCE_LANDMARK_SELECTION:
num_objects = len(FORCE_LANDMARK_SELECTION)
else:
num_objects = int(random.uniform(MIN_NUM_OBJECTS, MAX_NUM_OBJECTS))
if config_num % NEW_CONFIG_EVERY_N == 0 or config is None:
print("making config %d with %d objects" % (config_num, num_objects))
while True:
config = try_make_config(num_objects)
attempts += 1
sys.stdout.write("\r Attempts: " + str(attempts))
if config is not None:
print("")
break
if MAKE_LAKES:
config = add_lake_to_config(config, X_RANGE, Y_RANGE)
path = paths.get_env_config_path(config_num)
os.makedirs(os.path.dirname(path), exist_ok=True)
with open(path, 'w') as fp:
json.dump(config, fp)