update

perceptualrobots · Aug 25, 2023 · 08ae73c · 08ae73c
1 parent e58d58a
commit 08ae73c
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/nbs/04_hierarchy.ipynb b/nbs/04_hierarchy.ipynb
@@ -1087,16 +1087,18 @@
     "\n",
     "\n",
     "    @classmethod\n",
-    "    def run_from_file(cls, filename, seed=None, render=False, history=False, move=None, plots=None, hpct_verbose= False, runs=None, outdir=None, early_termination = None):\n",
+    "    def run_from_file(cls, filename, env_props=None, seed=None, render=False, history=False, move=None, plots=None, hpct_verbose= False, runs=None, outdir=None, early_termination = None):\n",
     "        \n",
     "        prp = PCTRunProperties()\n",
     "        prp.load_db(filename)\n",
     "\n",
     "        error_collector_type = prp.db['error_collector_type'].strip()\n",
     "        error_response_type = prp.db['error_response_type']\n",
     "        error_limit = eval(prp.db['error_limit'])\n",
-    "        environment_properties = eval(prp.db['environment_properties'])\n",
-    "        \n",
+    "        if env_props is None:\n",
+    "            environment_properties = eval(prp.db['environment_properties'])\n",
+    "        else:\n",
+    "            environment_properties = env_props    \n",
     "        error_properties = prp.get_error_properties()\n",
     "   \n",
     "        if runs==None:\n",

diff --git a/pct/hierarchy.py b/pct/hierarchy.py
@@ -1009,16 +1009,18 @@ def run_from_config(cls, config, min, render=False,  error_collector_type=None,
 
 
     @classmethod
-    def run_from_file(cls, filename, seed=None, render=False, history=False, move=None, plots=None, hpct_verbose= False, runs=None, outdir=None, early_termination = None):
+    def run_from_file(cls, filename, env_props=None, seed=None, render=False, history=False, move=None, plots=None, hpct_verbose= False, runs=None, outdir=None, early_termination = None):
 
         prp = PCTRunProperties()
         prp.load_db(filename)
 
         error_collector_type = prp.db['error_collector_type'].strip()
         error_response_type = prp.db['error_response_type']
         error_limit = eval(prp.db['error_limit'])
-        environment_properties = eval(prp.db['environment_properties'])
-
+        if env_props is None:
+            environment_properties = eval(prp.db['environment_properties'])
+        else:
+            environment_properties = env_props    
         error_properties = prp.get_error_properties()
 
         if runs==None: