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episodes.py
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#
# School of Continuing Studies, University of Toronto
# 3547 TERM PROJECT
# Intelligent Systems and Reinforcement Learning
# Robot obstacle avoidance with reinforcement learning
#
# Alexandre Dietrich
# Ankur Tyagi
# Haitham Alamri
# Rodolfo Vasconcelos
#
'''
This file was generated by generate_episode_configuration.py
'''
EPISODES = [
{
"robot_pos" : [250, 18],
"goal_pos" : [209, 65],
"full_obstacle_list" : [(344, 496), (288, 397), (496, 236), (73, 9), (332, 442), (462, 490), (386, 208), (353, 121), (500, 158), (84, 391), (204, 133), (326, 90), (441, 202), (125, 197), (26, 22), (133, 378)]
},
{
"robot_pos" : [382, 489],
"goal_pos" : [411, 409],
"full_obstacle_list" : [(403, 193), (323, 309), (130, 103), (92, 35), (254, 394), (161, 204), (404, 303), (39, 426), (493, 207), (235, 411), (469, 142), (88, 238), (396, 320), (182, 431), (367, 445), (435, 3)]
},
{
"robot_pos" : [391, 297],
"goal_pos" : [241, 317],
"full_obstacle_list" : [(248, 487), (361, 465), (404, 169), (110, 48), (396, 408), (419, 493), (49, 120), (120, 286), (424, 12), (32, 304), (241, 146), (77, 280), (295, 140), (406, 163), (462, 120), (88, 162)]
},
{
"robot_pos" : [143, 121],
"goal_pos" : [474, 350],
"full_obstacle_list" : [(458, 28), (131, 29), (238, 170), (304, 313), (403, 210), (25, 86), (51, 431), (105, 248), (169, 66), (152, 366), (353, 150), (79, 131), (485, 28), (174, 377), (201, 264), (447, 344)]
},
{
"robot_pos" : [89, 373],
"goal_pos" : [369, 196],
"full_obstacle_list" : [(153, 181), (186, 417), (158, 266), (149, 143), (212, 400), (482, 233), (424, 99), (439, 83), (180, 462), (236, 435), (52, 368), (214, 380), (153, 320), (72, 444), (212, 41), (249, 309)]
},
{
"robot_pos" : [263, 205],
"goal_pos" : [453, 226],
"full_obstacle_list" : [(5, 416), (291, 102), (383, 382), (180, 61), (167, 275), (290, 25), (471, 157), (467, 238), (479, 60), (55, 262), (348, 140), (57, 103), (478, 270), (223, 175), (40, 462), (245, 205)]
},
{
"robot_pos" : [379, 234],
"goal_pos" : [21, 106],
"full_obstacle_list" : [(139, 87), (305, 62), (422, 203), (210, 425), (54, 110), (406, 435), (315, 263), (368, 143), (347, 318), (40, 128), (360, 455), (9, 484), (332, 111), (193, 396), (181, 435), (460, 371)]
},
{
"robot_pos" : [45, 40],
"goal_pos" : [98, 377],
"full_obstacle_list" : [(220, 390), (48, 483), (108, 232), (17, 366), (82, 456), (443, 458), (91, 488), (194, 358), (414, 111), (93, 177), (190, 10), (365, 442), (406, 254), (440, 87), (13, 441), (260, 181)]
},
{
"robot_pos" : [16, 360],
"goal_pos" : [288, 417],
"full_obstacle_list" : [(424, 442), (480, 289), (351, 104), (38, 19), (250, 138), (28, 422), (451, 66), (295, 1), (64, 6), (360, 440), (51, 146), (149, 419), (38, 461), (342, 330), (345, 257), (104, 111)]
},
{
"robot_pos" : [414, 272],
"goal_pos" : [47, 118],
"full_obstacle_list" : [(497, 486), (266, 434), (192, 228), (298, 8), (194, 213), (59, 125), (363, 313), (246, 202), (417, 146), (30, 167), (404, 182), (471, 364), (292, 83), (304, 282), (486, 273), (78, 328)]
},
{
"robot_pos" : [322, 143],
"goal_pos" : [462, 324],
"full_obstacle_list" : [(366, 431), (281, 81), (6, 245), (460, 210), (22, 303), (185, 287), (5, 491), (386, 449), (351, 264), (282, 122), (225, 492), (384, 123), (29, 394), (106, 313), (444, 166), (131, 258)]
},
{
"robot_pos" : [211, 125],
"goal_pos" : [486, 419],
"full_obstacle_list" : [(210, 128), (241, 370), (227, 154), (59, 393), (148, 473), (494, 382), (227, 171), (58, 217), (482, 205), (299, 457), (438, 425), (415, 320), (313, 112), (422, 487), (256, 479), (448, 335)]
},
{
"robot_pos" : [387, 404],
"goal_pos" : [102, 43],
"full_obstacle_list" : [(98, 132), (231, 351), (330, 372), (371, 124), (314, 72), (274, 30), (332, 1), (336, 359), (451, 334), (104, 166), (467, 227), (228, 312), (50, 137), (418, 411), (147, 451), (409, 400)]
},
{
"robot_pos" : [235, 312],
"goal_pos" : [343, 310],
"full_obstacle_list" : [(19, 69), (305, 310), (246, 490), (97, 50), (276, 312), (424, 346), (211, 206), (204, 205), (268, 465), (343, 61), (62, 3), (307, 412), (178, 357), (223, 88), (127, 425), (235, 87)]
},
{
"robot_pos" : [480, 293],
"goal_pos" : [288, 380],
"full_obstacle_list" : [(290, 111), (307, 427), (106, 268), (462, 71), (161, 227), (251, 428), (312, 472), (71, 143), (32, 385), (448, 330), (173, 227), (23, 187), (418, 113), (51, 318), (368, 174), (74, 155)]
},
{
"robot_pos" : [482, 160],
"goal_pos" : [135, 409],
"full_obstacle_list" : [(31, 384), (86, 147), (150, 357), (306, 286), (259, 38), (32, 435), (388, 66), (292, 130), (319, 54), (258, 375), (212, 34), (132, 288), (312, 210), (468, 158), (432, 56), (185, 242)]
},
{
"robot_pos" : [213, 437],
"goal_pos" : [0, 308],
"full_obstacle_list" : [(89, 427), (27, 321), (274, 177), (254, 179), (458, 71), (103, 40), (336, 375), (490, 258), (215, 110), (13, 263), (346, 54), (265, 175), (210, 198), (23, 163), (470, 227), (161, 74)]
},
{
"robot_pos" : [312, 137],
"goal_pos" : [363, 18],
"full_obstacle_list" : [(466, 366), (94, 432), (76, 414), (434, 181), (264, 426), (61, 125), (101, 257), (383, 76), (2, 415), (44, 330), (433, 392), (128, 162), (82, 256), (484, 168), (499, 160), (375, 282)]
},
{
"robot_pos" : [124, 478],
"goal_pos" : [430, 258],
"full_obstacle_list" : [(138, 57), (57, 104), (103, 224), (429, 414), (342, 13), (15, 418), (392, 481), (389, 103), (0, 310), (463, 121), (40, 341), (321, 61), (358, 222), (7, 424), (300, 76), (301, 21)]
},
{
"robot_pos" : [131, 56],
"goal_pos" : [447, 423],
"full_obstacle_list" : [(474, 27), (162, 232), (45, 366), (349, 110), (230, 396), (73, 19), (242, 370), (384, 286), (212, 68), (268, 402), (211, 245), (61, 411), (71, 138), (448, 431), (482, 464), (243, 387)]
},
{
"robot_pos" : [95, 410],
"goal_pos" : [6, 85],
"full_obstacle_list" : [(197, 5), (382, 143), (282, 446), (179, 87), (247, 174), (60, 360), (465, 364), (180, 455), (80, 363), (95, 410), (316, 225), (370, 88), (176, 403), (97, 22), (430, 54), (422, 164)]
},
{
"robot_pos" : [218, 394],
"goal_pos" : [85, 90],
"full_obstacle_list" : [(388, 344), (55, 82), (261, 110), (151, 453), (281, 254), (481, 324), (280, 424), (257, 119), (345, 175), (391, 272), (95, 89), (499, 110), (414, 41), (17, 113), (40, 264), (295, 114)]
},
{
"robot_pos" : [436, 275],
"goal_pos" : [309, 410],
"full_obstacle_list" : [(88, 355), (380, 236), (423, 79), (345, 403), (435, 121), (288, 94), (413, 134), (490, 438), (242, 449), (139, 137), (129, 410), (319, 147), (475, 74), (287, 475), (110, 344), (9, 142)]
},
{
"robot_pos" : [499, 456],
"goal_pos" : [157, 429],
"full_obstacle_list" : [(249, 25), (203, 254), (308, 237), (263, 0), (57, 134), (197, 468), (436, 480), (377, 440), (479, 243), (247, 205), (441, 275), (72, 198), (454, 50), (374, 300), (395, 476), (259, 110)]
},
{
"robot_pos" : [68, 33],
"goal_pos" : [269, 431],
"full_obstacle_list" : [(351, 18), (458, 357), (172, 361), (16, 84), (20, 374), (398, 92), (115, 359), (273, 75), (71, 301), (193, 332), (125, 130), (66, 463), (385, 61), (231, 83), (336, 390), (451, 167)]
},
{
"robot_pos" : [355, 205],
"goal_pos" : [186, 148],
"full_obstacle_list" : [(191, 477), (197, 304), (108, 398), (165, 63), (95, 115), (37, 108), (34, 432), (111, 299), (401, 172), (196, 161), (404, 51), (195, 286), (4, 456), (347, 54), (488, 414), (45, 194)]
},
{
"robot_pos" : [346, 218],
"goal_pos" : [450, 118],
"full_obstacle_list" : [(286, 360), (303, 459), (477, 216), (131, 184), (97, 106), (152, 33), (454, 465), (1, 304), (342, 304), (94, 363), (309, 126), (152, 189), (306, 308), (166, 447), (395, 186), (196, 59)]
},
{
"robot_pos" : [376, 207],
"goal_pos" : [69, 419],
"full_obstacle_list" : [(2, 66), (111, 182), (322, 393), (260, 112), (243, 183), (476, 314), (449, 36), (243, 183), (353, 396), (276, 347), (106, 192), (244, 341), (112, 480), (391, 119), (254, 68), (289, 71)]
},
{
"robot_pos" : [341, 344],
"goal_pos" : [89, 355],
"full_obstacle_list" : [(414, 34), (300, 178), (256, 198), (235, 356), (9, 130), (223, 246), (306, 118), (406, 497), (198, 440), (259, 402), (20, 322), (11, 408), (453, 310), (156, 405), (438, 71), (36, 210)]
},
{
"robot_pos" : [86, 116],
"goal_pos" : [199, 238],
"full_obstacle_list" : [(149, 338), (439, 307), (392, 490), (337, 373), (74, 473), (280, 364), (247, 218), (199, 365), (93, 449), (126, 237), (304, 442), (4, 221), (103, 109), (235, 83), (53, 378), (99, 312)]
},
{
"robot_pos" : [169, 364],
"goal_pos" : [25, 247],
"full_obstacle_list" : [(400, 161), (252, 287), (106, 187), (212, 308), (142, 342), (239, 393), (55, 81), (76, 305), (411, 180), (451, 400), (201, 426), (244, 95), (485, 42), (445, 56), (290, 205), (387, 322)]
},
{
"robot_pos" : [132, 238],
"goal_pos" : [412, 97],
"full_obstacle_list" : [(354, 159), (451, 373), (324, 197), (93, 222), (455, 100), (390, 185), (237, 138), (230, 220), (15, 399), (260, 213), (195, 107), (41, 120), (331, 415), (397, 423), (138, 156), (391, 218)]
},
{
"robot_pos" : [171, 414],
"goal_pos" : [168, 369],
"full_obstacle_list" : [(44, 24), (110, 101), (80, 416), (415, 113), (73, 90), (26, 359), (7, 398), (308, 102), (170, 387), (37, 150), (185, 12), (245, 495), (9, 262), (172, 320), (363, 45), (493, 225)]
},
{
"robot_pos" : [0, 51],
"goal_pos" : [77, 472],
"full_obstacle_list" : [(194, 188), (167, 448), (337, 188), (137, 135), (73, 415), (3, 199), (436, 299), (85, 31), (404, 408), (288, 238), (182, 217), (172, 21), (332, 12), (485, 414), (460, 236), (90, 179)]
},
{
"robot_pos" : [206, 258],
"goal_pos" : [120, 250],
"full_obstacle_list" : [(408, 319), (311, 122), (459, 230), (394, 429), (26, 4), (430, 245), (46, 41), (420, 167), (387, 113), (42, 303), (62, 485), (234, 237), (102, 123), (241, 161), (72, 134), (382, 200)]
},
{
"robot_pos" : [476, 40],
"goal_pos" : [124, 93],
"full_obstacle_list" : [(442, 224), (201, 59), (226, 125), (130, 443), (137, 326), (324, 415), (288, 470), (115, 330), (295, 354), (221, 338), (301, 48), (360, 180), (155, 484), (118, 496), (26, 87), (275, 111)]
},
{
"robot_pos" : [69, 382],
"goal_pos" : [496, 261],
"full_obstacle_list" : [(421, 482), (313, 471), (373, 417), (324, 453), (266, 287), (88, 83), (308, 21), (271, 126), (468, 387), (271, 413), (140, 65), (385, 429), (407, 438), (343, 403), (459, 42), (165, 53)]
},
{
"robot_pos" : [5, 111],
"goal_pos" : [494, 20],
"full_obstacle_list" : [(499, 65), (339, 336), (12, 236), (97, 485), (277, 25), (356, 379), (297, 497), (295, 1), (453, 243), (347, 289), (140, 164), (213, 411), (296, 407), (338, 78), (415, 219), (116, 334)]
},
{
"robot_pos" : [141, 59],
"goal_pos" : [274, 233],
"full_obstacle_list" : [(393, 302), (337, 42), (2, 261), (157, 55), (353, 172), (309, 372), (333, 7), (193, 232), (5, 70), (471, 463), (44, 142), (238, 430), (20, 42), (393, 431), (204, 34), (329, 74)]
},
{
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