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This commit is contained in:
Niko Feith 2023-03-03 14:59:37 +01:00
parent ba0c730bd7
commit 5a8a353c0e
2 changed files with 9 additions and 8 deletions
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7
src/active_bo_ros/active_bo_ros/ReinforcementLearning/ContinuousMountainCar.py
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@ -173,9 +173,7 @@ class Continuous_MountainCarEnv(gym.Env):
if self.render_mode == "human": if self.render_mode == "human":
self.render() self.render()
elif self.render_mode == "rgb_array":
rgb_array = self.render()
return self.state, reward, terminated, False, {}, rgb_array
return self.state, reward, terminated, False, {} return self.state, reward, terminated, False, {}
def reset(self, *, seed: Optional[int] = None, options: Optional[dict] = None): def reset(self, *, seed: Optional[int] = None, options: Optional[dict] = None):
@ -187,9 +185,6 @@ class Continuous_MountainCarEnv(gym.Env):
if self.render_mode == "human": if self.render_mode == "human":
self.render() self.render()
elif self.render_mode == "rgb_array":
rgb_array = self.render()
return np.array(self.state, dtype=np.float32), {}, rgb_array
return np.array(self.state, dtype=np.float32), {} return np.array(self.state, dtype=np.float32), {}
def _height(self, xs): def _height(self, xs):

10
src/active_bo_ros/active_bo_ros/rl_service.py
View File

@ -37,13 +37,19 @@ class RLService(Node):
done = output[2] done = output[2]
step_count += 1 step_count += 1
rgb_array = output[5] rgb_array = self.env.render()
rgb_shape = rgb_array.shape rgb_shape = rgb_array.shape
red = rgb_array[:, :, 0].flatten().tolist() red = rgb_array[:, :, 0].flatten().tolist()
green = rgb_array[:, :, 1].flatten().tolist() green = rgb_array[:, :, 1].flatten().tolist()
blue = rgb_array[:, :, 2].flatten().tolist() blue = rgb_array[:, :, 2].flatten().tolist()
# random int data
# red = np.random.randint(0, 255, 240000).tolist()
# green = np.random.randint(0, 255, 240000).tolist()
# blue = np.random.randint(0, 255, 240000).tolist()
feedback_msg.height = rgb_shape[0] feedback_msg.height = rgb_shape[0]
feedback_msg.width = rgb_shape[1] feedback_msg.width = rgb_shape[1]
feedback_msg.red = red feedback_msg.red = red
@ -58,7 +64,7 @@ class RLService(Node):
distance = -(self.env.goal_position - output[0][0]) distance = -(self.env.goal_position - output[0][0])
reward += distance * self.distance_penalty reward += distance * self.distance_penalty
time.sleep(0.01) # time.sleep(0.01)
response.reward = reward response.reward = reward
response.final_step = step_count response.final_step = step_count