acrobot

error from pendulum fixed

src/active_bo_msgs/msg/ActiveBORequest.msg

@@ -1,4 +1,5 @@
 string env
+bool fixed_seed
 string metric
 uint16 nr_weights
 uint16 max_steps

src/active_bo_msgs/msg/ActiveRL.msg

@@ -1,3 +1,4 @@
 string env
+uint32 seed
 float32[] policy
 float32[] weights

src/active_bo_ros/active_bo_ros/ReinforcementLearning/Acrobot.py

@@ -196,7 +196,7 @@ class AcrobotEnv(core.Env):
     def step(self, a):
         s = self.state
         assert s is not None, "Call reset before using AcrobotEnv object."
-        torque = self.AVAIL_TORQUE[a]
+        torque = a
 
         # Add noise to the force action
         if self.torque_noise_max > 0:

src/active_bo_ros/active_bo_ros/ReinforcementLearning/Pendulum.py

@@ -227,8 +227,19 @@ class PendulumEnv(gym.Env):
             self.surf, rod_end[0], rod_end[1], int(rod_width / 2), (204, 77, 77)
         )
 
-        fname = path.join(path.dirname(__file__), "../../resource/clockwise.png")
+        try:
+            import ament_index_python
+        except ImportError:
+            raise DependencyNotInstalled(
+                "ament_index_python is not installed`"
+            )
+
+        package_name = 'active_bo_ros'
+
+        package_path = ament_index_python.get_package_share_directory(package_name)
+        fname = path.join(package_path, 'assets', 'clockwise.png')
         img = pygame.image.load(fname)
+
         if self.last_u is not None:
             scale_img = pygame.transform.smoothscale(
                 img,

src/active_bo_ros/active_bo_ros/active_bo_topic.py

@@ -64,7 +64,6 @@ class ActiveBOTopic(Node):
 
         # RL Environments and BO
         self.env = None
-        self.distance_penalty = 0
 
         self.BO = None
         self.nr_init = 3

src/active_bo_ros/active_bo_ros/active_rl_topic.py

@@ -65,7 +65,6 @@ class ActiveRLService(Node):
         # RL Environments
         self.env = None
 
-        self.distance_penalty = 0
         self.best_pol_shown = False
 
         # Main loop timer object
@@ -114,11 +113,8 @@ class ActiveRLService(Node):
     def next_image(self, policy):
         action = policy[self.rl_step]
         action_clipped = action.clip(min=-1.0, max=1.0)
-        self.get_logger().info(str(action_clipped) + str(type(action_clipped)))
         output = self.env.step(action_clipped.astype(np.float32))
 
-        self.get_logger().info(str(output))
-
         self.rl_reward += output[1]
         done = output[2]
         self.rl_step += 1
@@ -141,8 +137,6 @@ class ActiveRLService(Node):
         self.image_pub.publish(feedback_msg)
 
         if not done and self.rl_step == len(policy):
-            distance = -(self.env.goal_position - output[0][0])
-            self.rl_reward += distance * self.distance_penalty
             done = True
 
         return done

src/active_bo_ros/active_bo_ros/rl_service.py

@@ -20,7 +20,6 @@ class RLService(Node):
         self.publisher = self.create_publisher(ImageFeedback, 'rl_feedback', 1)
 
         self.env = None
-        self.distance_penalty = 0
 
     def rl_callback(self, request, response):
 
@@ -47,7 +46,6 @@ class RLService(Node):
         for i in range(len(policy)):
             action = policy[i]
             action_clipped = action.clip(min=-1.0, max=1.0)
-            self.get_logger().info(str(action_clipped) + str(type(action_clipped)))
             output = self.env.step(action_clipped.astype(np.float32))
 
             reward += output[1]
@@ -72,10 +70,6 @@ class RLService(Node):
             if done:
                 break
 
-            if not done and i == len(policy):
-                distance = -(self.env.goal_position - output[0][0])
-                reward += distance * self.distance_penalty
-
         response.reward = reward
         response.final_step = step_count
 

src/active_bo_ros/package.xml

@@ -18,5 +18,6 @@
 
   <export>
     <build_type>ament_python</build_type>
+    <your_package_name resource="assets/clockwise.png"/>
   </export>
 </package>

src/active_bo_ros/setup.py

@@ -17,6 +17,7 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name), glob('launch/*.launch.py')),
+        ('share/' + package_name + '/assets', ['assets/clockwise.png']),
     ],
     install_requires=['setuptools', 'gym', 'numpy'],
     zip_safe=True,