dmlab_precompile_map.py

import random
from utils import mapper
from envs.LabEnvV2 import RandomMazeTileRaw
from collections import defaultdict
import os
import shutil
import fnmatch
import IPython.terminal.debugger as Debug
import matplotlib.pyplot as plt


def run_demo():
    # level name
    level = "nav_random_maze_tile_bsp"

    # desired observations
    observation_list = ['RGB.LOOK_RANDOM_PANORAMA_VIEW',
                        'RGB.LOOK_TOP_DOWN_VIEW'
                        ]
    # configurations
    configurations = {
        'width': str(32),
        'height': str(32),
        "fps": str(60)
    }

    # maze sizes and seeds
    maze_size_list = [5, 7, 9, 11, 13, 15, 17, 19, 21]
    maze_seed_list = list(range(20))

    # maze
    theme_list = ['MISHMASH']
    decal_list = [0.001]

    # create the map environment
    myEnv = RandomMazeTileRaw(level,
                              observation_list,
                              configurations)

    # check the directories
    if os.path.exists("./precompiled_map"):
        shutil.rmtree("./precompiled_map")
    else:
        os.mkdir("./precompiled_map")

    # precompile map
    for size in maze_size_list:
        for seed in maze_seed_list:
            env_map = mapper.RoughMap(size, seed, 3, False)
            maze_name = f"maze_{size}_{seed}"
            # initialize the maze environment
            maze_configs = defaultdict(lambda: None)
            maze_configs["maze_name"] = maze_name  # string type name
            maze_configs["maze_size"] = [size, size]  # [int, int] list
            maze_configs["maze_seed"] = '1234'  # string type number
            maze_configs["maze_texture"] = random.sample(theme_list, 1)[0]  # string type name in theme_list
            maze_configs["maze_decal_freq"] = random.sample(decal_list, 1)[0]  # float number in decal_list
            maze_configs["maze_map_txt"] = "".join(env_map.map2d_txt)  # string type map
            maze_configs["maze_valid_pos"] = env_map.valid_pos  # list of valid positions
            # initialize the maze start and goal positions
            maze_configs["start_pos"] = env_map.init_pos + [0]  # start position on the txt map [rows, cols, orientation]
            maze_configs["goal_pos"] = env_map.goal_pos + [0]  # goal position on the txt map [rows, cols, orientation]
            maze_configs["update"] = True  # update flag
            # set the maze
            state, _, _, _ = myEnv.reset(maze_configs)

            # save the .pk3 file at /tmp/dmlab_temp_folder_*/baselab/*
            dir_names = os.listdir("/tmp/")
            lab_dir_name = fnmatch.filter(dir_names, "dmlab_temp_folder_*")[0]
            source_dir = f'/tmp/{lab_dir_name}/baselab/{maze_name}.pk3'
            target_dir = f'./precompiled_map/{maze_name}.pk3'
            print(source_dir)
            print(target_dir)
            shutil.move(source_dir, target_dir)
            print("--------- File moved ---------")
            # extract the pk3 file
            os.system(f"unzip -d ./precompiled_map/ ./precompiled_map/{maze_name}.pk3")
            print("Finish extraction")


if __name__ == '__main__':
    run_demo()