fixes after review on gazebo refactor to include ddpg, dqn and ppo

JdeRobot · Jan 9, 2024 · b176efb · b176efb
1 parent 955b9c2
commit b176efb
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/behavior_metrics/20231220-202146.bag.active b/behavior_metrics/20231220-202146.bag.active
diff --git a/behavior_metrics/ui/gui/views/toolbar.py b/behavior_metrics/ui/gui/views/toolbar.py
@@ -471,8 +471,10 @@ def create_brain_gb(self):
 
         self.brain_combobox = QComboBox()
         self.brain_combobox.setEnabled(True)
-        brains = [file.split(".")[0] for file in os.listdir(brains_path + self.configuration.environment + '/'
-            + self.configuration.robot_type) if file.endswith('.py') and file.split(".")[0] != '__init__']
+        environment_subpath = self.configuration.environment + '/' if self.configuration.environment is not None else ""
+        brains = [file.split(".")[0] for file
+                  in os.listdir(brains_path + environment_subpath + self.configuration.robot_type)
+                  if file.endswith('.py') and file.split(".")[0] != '__init__']
         self.brain_combobox.addItem('')
         self.brain_combobox.addItems(brains)
         index = self.brain_combobox.findText(current_brain, Qt.MatchFixedString)
@@ -702,7 +704,7 @@ def resume_simulation(self):
         brain = self.brain_combobox.currentText() + '.py'
 
         # load brain from controller
-        #if type(self.controller) != controller_carla.ControllerCarla:
+        # if type(self.controller) != controller_carla.ControllerCarla:
         #    self.controller.reload_brain(brains_path + self.configuration.robot_type + '/' + brain)
         self.controller.resume_pilot()
 
@@ -752,4 +754,3 @@ def open_close_simulator_gui():
             environment.open_gzclient()
         else:
             environment.close_gzclient()
-
diff --git a/behavior_metrics/utils/configuration.py b/behavior_metrics/utils/configuration.py
@@ -97,7 +97,7 @@ def initialize_configuration(self, config_data):
         """
         robot = config_data['Behaviors']['Robot']
         self.brain_path = robot['BrainPath']
-        self.environment = robot['Environment']
+        self.environment = robot.get('Environment', None)
         self.robot_type = robot['Type']
         self.pilot_time_cycle = robot['PilotTimeCycle']
         self.current_world = config_data['Behaviors']['Simulation']['World']