| 19 | |
| 20 | class BaseAgent(autonomous_agent.AutonomousAgent): |
| 21 | def setup(self, path_to_conf_file): |
| 22 | self.track = autonomous_agent.Track.SENSORS |
| 23 | self.config_path = path_to_conf_file |
| 24 | self.step = -1 |
| 25 | self.wall_start = time.time() |
| 26 | self.initialized = False |
| 27 | |
| 28 | self._sensor_data = { |
| 29 | 'width': 400, |
| 30 | 'height': 300, |
| 31 | 'fov': 100 |
| 32 | } |
| 33 | |
| 34 | self._3d_bb_distance = 50 |
| 35 | self.weather_id = None |
| 36 | |
| 37 | self.save_path = None |
| 38 | |
| 39 | if SAVE_PATH is not None: |
| 40 | now = datetime.datetime.now() |
| 41 | string = pathlib.Path(os.environ['ROUTES']).stem + '_' |
| 42 | string += '_'.join(map(lambda x: '%02d' % x, (now.month, now.day, now.hour, now.minute, now.second))) |
| 43 | |
| 44 | print (string) |
| 45 | |
| 46 | self.save_path = pathlib.Path(os.environ['SAVE_PATH']) / string |
| 47 | self.save_path.mkdir(parents=True, exist_ok=False) |
| 48 | |
| 49 | for sensor in self.sensors(): |
| 50 | if hasattr(sensor, 'save') and sensor['save']: |
| 51 | (self.save_path / sensor['id']).mkdir() |
| 52 | |
| 53 | (self.save_path / '3d_bbs').mkdir(parents=True, exist_ok=True) |
| 54 | (self.save_path / 'affordances').mkdir(parents=True, exist_ok=True) |
| 55 | (self.save_path / 'measurements').mkdir(parents=True, exist_ok=True) |
| 56 | (self.save_path / 'lidar').mkdir(parents=True, exist_ok=True) |
| 57 | (self.save_path / 'semantic_lidar').mkdir(parents=True, exist_ok=True) |
| 58 | (self.save_path / 'topdown').mkdir(parents=True, exist_ok=True) |
| 59 | |
| 60 | for pos in ['front', 'left', 'right', 'rear']: |
| 61 | for sensor_type in ['rgb', 'seg', 'depth', '2d_bbs']: |
| 62 | name = sensor_type + '_' + pos |
| 63 | (self.save_path / name).mkdir() |
| 64 | |
| 65 | def _init(self): |
| 66 | self._command_planner = RoutePlanner(7.5, 25.0, 257) |