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7bbbf54044
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98a8748b15
@ -108,11 +108,11 @@ watch(stateCounter.value, (newValue) => {
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});
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// Policy Service
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const policy_service = new ROSLIB.Service({
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ros: ros,
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name: "/policy_srv",
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serviceType: "active_bo_msgs/srv/WeightToPolicy",
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});
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// const policy_service = new ROSLIB.Service({
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// ros: ros,
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// name: "/policy_srv",
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// serviceType: "active_bo_msgs/srv/WeightToPolicy",
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// });
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// RL Service + Feedback Suscriber
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const rl_feedback_subscriber = new ROSLIB.Topic({
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@ -126,66 +126,99 @@ rl_feedback_subscriber.subscribe((msg) => {
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mcstore.setRgbArrays(msg.red, msg.green, msg.blue);
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});
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const active_rl_eval_sub = new ROSLIB.Topic({
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ros: ros_eval,
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name: "/active_rl_eval_request",
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messageType: "active_bo_msgs/msg/ActiveRL",
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});
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const pendingRequest = ref(false);
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active_rl_eval_sub.subscribe((msg) => {
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pstore.setPolicy(msg.policy);
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pstore.setWeights(msg.weights);
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pendingRequest.value = true;
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});
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const active_rl_eval_pub = new ROSLIB.Topic({
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ros: ros_eval,
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name: "/active_rl_eval_response",
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messageType: "active_bo_msgs/msg/ActiveRL",
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});
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// const active_eval_response_first = new ROSLIB.Message({
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// policy: pstore.policy,
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// weights: pstore.weights,
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// const active_rl_eval_sub = new ROSLIB.Topic({
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// ros: ros_eval,
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// name: "/active_rl_eval_request",
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// messageType: "active_bo_msgs/msg/ActiveRLEval",
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// });
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//
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// const pendingRequest = ref(false);
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// active_rl_eval_sub.subscribe((msg) => {
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// pstore.setPolicy(msg.policy);
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// pstore.setWeights(msg.weights);
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// pendingRequest.value = true;
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// });
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//
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// const active_rl_eval_pub = new ROSLIB.Topic({
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// ros: ros_eval,
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// name: "/active_rl_eval_response",
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// messageType: "active_bo_msgs/msg/ActiveRLEval",
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// });
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// console.log(active_eval_response_first);
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// active_rl_eval_pub.publish(active_eval_response_first);
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// function sleep(ms) {
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// return new Promise((resolve) => setTimeout(resolve, ms));
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// }
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// Active RL Eval Service
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let active_rl_eval_srv = new ROSLIB.Service({
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ros: ros,
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name: "/active_rl_eval_srv",
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serviceType: "active_bo_msgs/srv/ActiveRLEval",
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});
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let currentResponse = null;
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let currentServiceId = null;
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const pendingRequest = ref(false);
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active_rl_eval_srv.advertise(function (request, response) {
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currentResponse = response;
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currentServiceId = this.id;
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pendingRequest.value = true;
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pstore.setPolicy(request["old_policy"]);
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pstore.setWeights(request["old_weights"]);
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console.log(request);
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return false;
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});
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watch(
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() => cstore.getSendWeights,
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() => {
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const usr_mode = cstore.getUserMode;
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if (usr_mode === "manually") {
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const policy_request = new ROSLIB.ServiceRequest({
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weights: pstore.policy,
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nr_steps: pstore.weights,
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});
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policy_service.callService(policy_request, function (result) {
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pstore.setPolicy(result.policy);
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});
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} else if (usr_mode === "active BO") {
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// if (usr_mode === "manually") {
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// const policy_request = new ROSLIB.ServiceRequest({
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// weights: pstore.policy,
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// nr_steps: pstore.weights,
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// });
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//
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// policy_service.callService(policy_request, function (result) {
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// pstore.setPolicy(result.policy);
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// });
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// } else
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if (usr_mode === "active BO") {
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if (!pendingRequest.value) {
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return;
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}
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console.log("Button pressed!");
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const active_eval_response = new ROSLIB.Message({
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policy: pstore.policy,
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weights: pstore.weights,
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// const active_eval_response = new ROSLIB.Message({
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// policy: pstore.policy,
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// weights: pstore.weights,
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// });
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//
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// console.log(active_eval_response);
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//
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// active_rl_eval_pub.publish(active_eval_response);
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// // await sleep(1000);
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// console.log("New Policy/ Weights published");
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// pendingRequest.value = false;
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currentResponse["new_policy"] = pstore.getPolicy;
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currentResponse["new_weights"] = pstore.getWeights;
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console.log(currentResponse);
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active_rl_eval_srv.ros.callOnConnection({
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op: "service_response",
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service: active_rl_eval_srv.name,
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values: currentResponse,
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id: currentServiceId,
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result: true,
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});
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console.log(active_eval_response);
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console.log("Service Responded!");
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active_rl_eval_pub.publish(active_eval_response);
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// await sleep(1000);
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console.log("New Policy/ Weights published");
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pendingRequest.value = false;
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// pendingRequest.value = false;
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// currentResponse = null;
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// currentServiceId = null;
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}
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}
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);
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@ -202,31 +235,10 @@ const bo_service = new ROSLIB.Service({
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serviceType: "active_bo_msgs/srv/BO",
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});
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// const active_bo_service = new ROSLIB.Service({
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// ros: ros,
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// name: "/active_bo_srv",
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// serviceType: "active_bo_msgs/srv/ActiveBO",
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// });
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const active_bo_pending = ref(false);
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const active_bo_request = new ROSLIB.Topic({
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const active_bo_service = new ROSLIB.Service({
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ros: ros,
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name: "/active_bo_request",
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messageType: "active_bo_msgs/msg/ActiveBORequest",
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});
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const active_bo_response = new ROSLIB.Topic({
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ros: ros,
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name: "/active_bo_response",
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messageType: "active_bo_msgs/msg/ActiveBOResponse",
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});
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active_bo_response.subscribe((msg) => {
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pstore.setPolicy(msg.best_policy);
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pstore.setWeights(msg.best_weights);
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rstore.setMean(msg.reward_mean);
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rstore.setStd(msg.reward_std);
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active_bo_pending.value = false;
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name: "/active_bo_srv",
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serviceType: "active_bo_msgs/srv/ActiveBO",
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});
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watch(
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@ -262,8 +274,8 @@ watch(
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});
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rl_service.callService(rl_request, () => {});
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} else if (usr_mode === "active BO" && !active_bo_pending.value) {
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const request_msg = new ROSLIB.Message({
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} else if (usr_mode === "active BO") {
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const active_bo_request = new ROSLIB.ServiceRequest({
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nr_weights: pstore.nr_weights,
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max_steps: pstore.max_steps,
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nr_episodes: cstore.nr_episodes,
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@ -272,37 +284,20 @@ watch(
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epsilon: cstore.epsilon,
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});
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active_bo_request.publish(request_msg);
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active_bo_service.callService(
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active_bo_request,
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function (active_bo_response) {
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pstore.setPolicy(active_bo_response.best_policy);
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pstore.setWeights(active_bo_response.best_weights);
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rstore.setMean(active_bo_response.reward_mean);
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rstore.setStd(active_bo_response.reward_std);
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}
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);
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const rl_request = new ROSLIB.ServiceRequest({
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policy: pstore.policy,
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});
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rl_service.callService(rl_request, () => {});
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active_bo_pending.value = true;
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// const active_bo_request = new ROSLIB.ServiceRequest({
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// nr_weights: pstore.nr_weights,
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// max_steps: pstore.max_steps,
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// nr_episodes: cstore.nr_episodes,
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// nr_runs: cstore.nr_runs,
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// acquisition_function: cstore.acq_fun,
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// epsilon: cstore.epsilon,
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// });
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//
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// active_bo_service.callService(
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// active_bo_request,
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// function (active_bo_response) {
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// pstore.setPolicy(active_bo_response.best_policy);
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// pstore.setWeights(active_bo_response.best_weights);
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// rstore.setMean(active_bo_response.reward_mean);
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// rstore.setStd(active_bo_response.reward_std);
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// }
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// );
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// const rl_request = new ROSLIB.ServiceRequest({
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// policy: pstore.policy,
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// });
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//
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// rl_service.callService(rl_request, () => {});
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}
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}
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);
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@ -4,21 +4,22 @@ import { createApp } from "vue";
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import { createPinia } from "pinia";
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// Vuetify
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import "vuetify/styles";
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import { createVuetify } from "vuetify";
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import * as components from "vuetify/components";
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import * as directives from "vuetify/directives";
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import "@mdi/font/css/materialdesignicons.css";
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import 'vuetify/styles'
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import { createVuetify } from 'vuetify'
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import * as components from 'vuetify/components'
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import * as directives from 'vuetify/directives'
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import '@mdi/font/css/materialdesignicons.css'
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import App from "./App.vue";
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const pinia = createPinia();
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const vuetify = createVuetify({
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theme: {
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defaultTheme: "dark",
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},
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components,
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directives,
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theme: {
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defaultTheme: 'dark',
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},
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components,
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directives,
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});
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const app = createApp(App);
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