diff --git a/InteractiveRobot/.eslintrc.cjs b/InteractiveRobot/.eslintrc.cjs new file mode 100644 index 0000000..dc51c01 --- /dev/null +++ b/InteractiveRobot/.eslintrc.cjs @@ -0,0 +1,15 @@ +/* eslint-env node */ +require("@rushstack/eslint-patch/modern-module-resolution"); + +module.exports = { + root: true, + extends: [ + "plugin:vue/vue3-essential", + "eslint:recommended", + "@vue/eslint-config-typescript", + "@vue/eslint-config-prettier", + ], + parserOptions: { + ecmaVersion: "latest", + }, +}; diff --git a/InteractiveRobot/.gitignore b/InteractiveRobot/.gitignore new file mode 100644 index 0000000..38adffa --- /dev/null +++ b/InteractiveRobot/.gitignore @@ -0,0 +1,28 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +.DS_Store +dist +dist-ssr +coverage +*.local + +/cypress/videos/ +/cypress/screenshots/ + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/InteractiveRobot/.prettierrc.json b/InteractiveRobot/.prettierrc.json new file mode 100644 index 0000000..9e26dfe --- /dev/null +++ b/InteractiveRobot/.prettierrc.json @@ -0,0 +1 @@ +{} \ No newline at end of file diff --git a/InteractiveRobot/.vscode/extensions.json b/InteractiveRobot/.vscode/extensions.json new file mode 100644 index 0000000..c0a6e5a --- /dev/null +++ b/InteractiveRobot/.vscode/extensions.json @@ -0,0 +1,3 @@ +{ + "recommendations": ["Vue.volar", "Vue.vscode-typescript-vue-plugin"] +} diff --git a/InteractiveRobot/README.md b/InteractiveRobot/README.md new file mode 100644 index 0000000..d46a895 --- /dev/null +++ b/InteractiveRobot/README.md @@ -0,0 +1,46 @@ +# ActiveBOWeb + +This template should help get you started developing with Vue 3 in Vite. + +## Recommended IDE Setup + +[VSCode](https://code.visualstudio.com/) + [Volar](https://marketplace.visualstudio.com/items?itemName=Vue.volar) (and disable Vetur) + [TypeScript Vue Plugin (Volar)](https://marketplace.visualstudio.com/items?itemName=Vue.vscode-typescript-vue-plugin). + +## Type Support for `.vue` Imports in TS + +TypeScript cannot handle type information for `.vue` imports by default, so we replace the `tsc` CLI with `vue-tsc` for type checking. In editors, we need [TypeScript Vue Plugin (Volar)](https://marketplace.visualstudio.com/items?itemName=Vue.vscode-typescript-vue-plugin) to make the TypeScript language service aware of `.vue` types. + +If the standalone TypeScript plugin doesn't feel fast enough to you, Volar has also implemented a [Take Over Mode](https://github.com/johnsoncodehk/volar/discussions/471#discussioncomment-1361669) that is more performant. You can enable it by the following steps: + +1. Disable the built-in TypeScript Extension + 1) Run `Extensions: Show Built-in Extensions` from VSCode's command palette + 2) Find `TypeScript and JavaScript Language Features`, right click and select `Disable (Workspace)` +2. Reload the VSCode window by running `Developer: Reload Window` from the command palette. + +## Customize configuration + +See [Vite Configuration Reference](https://vitejs.dev/config/). + +## Project Setup + +```sh +npm install +``` + +### Compile and Hot-Reload for Development + +```sh +npm run dev +``` + +### Type-Check, Compile and Minify for Production + +```sh +npm run build +``` + +### Lint with [ESLint](https://eslint.org/) + +```sh +npm run lint +``` diff --git a/InteractiveRobot/env.d.ts b/InteractiveRobot/env.d.ts new file mode 100644 index 0000000..11f02fe --- /dev/null +++ b/InteractiveRobot/env.d.ts @@ -0,0 +1 @@ +/// diff --git a/InteractiveRobot/index.html b/InteractiveRobot/index.html new file mode 100644 index 0000000..2ad8df9 --- /dev/null +++ b/InteractiveRobot/index.html @@ -0,0 +1,13 @@ + + + + + + + Active BO + + +
+ + + diff --git a/InteractiveRobot/package-lock.json b/InteractiveRobot/package-lock.json new file mode 100644 index 0000000..1328ed6 --- /dev/null +++ b/InteractiveRobot/package-lock.json @@ -0,0 +1,4635 @@ +{ + "name": "activeboweb", + "version": "0.0.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "activeboweb", + "version": "0.0.0", + "dependencies": { + "chart.js": "^4.2.1", + "pinia": "^2.0.30", + "roslib": "^1.3.0", + "vue": "^3.2.45", + "vue-resource": "^1.5.3", + "vue-slider-component": "^4.1.0-beta.7", + "vue3-slider": "^1.8.0", + "vuetify": "^3.1.4" + }, + "devDependencies": { + "@mdi/font": "^7.1.96", + "@rushstack/eslint-patch": "^1.1.4", + "@types/node": "^18.11.12", + "@vitejs/plugin-vue": "^4.0.0", + "@vitejs/plugin-vue-jsx": "^3.0.0", + "@vue/eslint-config-prettier": "^7.0.0", + "@vue/eslint-config-typescript": "^11.0.0", + "@vue/tsconfig": "^0.1.3", + "eslint": "^8.22.0", + "eslint-plugin-vue": "^9.3.0", + "npm-run-all": "^4.1.5", + "prettier": "^2.7.1", + "typescript": "~4.7.4", + "vite": "^4.0.0", + "vue-tsc": "^1.0.12" + } + }, + "node_modules/@ampproject/remapping": { + "version": "2.2.0", + "dev": true, + "license": "Apache-2.0", + "dependencies": { + "@jridgewell/gen-mapping": "^0.1.0", + "@jridgewell/trace-mapping": "^0.3.9" + }, + "engines": { + "node": ">=6.0.0" + } + }, + "node_modules/@babel/code-frame": { + "version": "7.18.6", + "dev": true, + "license": "MIT", + "dependencies": { + "@babel/highlight": "^7.18.6" + }, + "engines": { + "node": ">=6.9.0" + } + }, + "node_modules/@babel/compat-data": { + "version": "7.21.0", + "dev": true, + "license": "MIT", + "engines": { + "node": ">=6.9.0" + } + }, + "node_modules/@babel/core": { + "version": "7.21.0", + "dev": true, + "license": "MIT", + "dependencies": { + "@ampproject/remapping": "^2.2.0", + "@babel/code-frame": "^7.18.6", + "@babel/generator": "^7.21.0", + "@babel/helper-compilation-targets": "^7.20.7", + "@babel/helper-module-transforms": 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"type-check": "vue-tsc --noEmit", + "lint": "eslint . --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore" + }, + "dependencies": { + "chart.js": "^4.2.1", + "pinia": "^2.0.30", + "roslib": "^1.3.0", + "vue": "^3.2.45", + "vue-resource": "^1.5.3", + "vue-slider-component": "^4.1.0-beta.7", + "vue3-slider": "^1.8.0", + "vuetify": "^3.1.4" + }, + "devDependencies": { + "@mdi/font": "^7.1.96", + "@rushstack/eslint-patch": "^1.1.4", + "@types/node": "^18.11.12", + "@vitejs/plugin-vue": "^4.0.0", + "@vitejs/plugin-vue-jsx": "^3.0.0", + "@vue/eslint-config-prettier": "^7.0.0", + "@vue/eslint-config-typescript": "^11.0.0", + "@vue/tsconfig": "^0.1.3", + "eslint": "^8.22.0", + "eslint-plugin-vue": "^9.3.0", + "npm-run-all": "^4.1.5", + "prettier": "^2.7.1", + "typescript": "~4.7.4", + "vite": "^4.0.0", + "vue-tsc": "^1.0.12" + } +} diff --git a/InteractiveRobot/public/CPS_White.ico b/InteractiveRobot/public/CPS_White.ico new file mode 100644 index 0000000..2bb513f Binary files /dev/null and b/InteractiveRobot/public/CPS_White.ico differ diff --git a/InteractiveRobot/public/favicon.ico b/InteractiveRobot/public/favicon.ico new file mode 100644 index 0000000..df36fcf Binary files /dev/null and b/InteractiveRobot/public/favicon.ico differ diff --git a/InteractiveRobot/src/App.vue b/InteractiveRobot/src/App.vue new file mode 100644 index 0000000..1c08440 --- /dev/null +++ b/InteractiveRobot/src/App.vue @@ -0,0 +1,17 @@ + + + + + diff --git a/InteractiveRobot/src/assets/CPS_Logo_Black.png b/InteractiveRobot/src/assets/CPS_Logo_Black.png new file mode 100644 index 0000000..ed16d0f Binary files /dev/null and b/InteractiveRobot/src/assets/CPS_Logo_Black.png differ diff --git a/InteractiveRobot/src/assets/CPS_Logo_White.png b/InteractiveRobot/src/assets/CPS_Logo_White.png new file mode 100644 index 0000000..b6b0db9 Binary files /dev/null and b/InteractiveRobot/src/assets/CPS_Logo_White.png differ diff --git a/InteractiveRobot/src/components/BaseLayout.vue b/InteractiveRobot/src/components/BaseLayout.vue new file mode 100644 index 0000000..22561c2 --- /dev/null +++ b/InteractiveRobot/src/components/BaseLayout.vue @@ -0,0 +1,15 @@ + + + + + diff --git a/InteractiveRobot/src/components/ControlPanel.vue b/InteractiveRobot/src/components/ControlPanel.vue new file mode 100644 index 0000000..396e86d --- /dev/null +++ b/InteractiveRobot/src/components/ControlPanel.vue @@ -0,0 +1,146 @@ + + + + + diff --git a/InteractiveRobot/src/components/PolicyPlot.vue b/InteractiveRobot/src/components/PolicyPlot.vue new file mode 100644 index 0000000..27b2876 --- /dev/null +++ b/InteractiveRobot/src/components/PolicyPlot.vue @@ -0,0 +1,143 @@ + + + + + diff --git a/InteractiveRobot/src/components/RLCanvas.vue b/InteractiveRobot/src/components/RLCanvas.vue new file mode 100644 index 0000000..f5bd0b1 --- /dev/null +++ b/InteractiveRobot/src/components/RLCanvas.vue @@ -0,0 +1,58 @@ + + + + + diff --git a/InteractiveRobot/src/components/RewardPlot.vue b/InteractiveRobot/src/components/RewardPlot.vue new file mode 100644 index 0000000..2e4336b --- /dev/null +++ b/InteractiveRobot/src/components/RewardPlot.vue @@ -0,0 +1,131 @@ + + + + + diff --git a/InteractiveRobot/src/components/RosBar.vue b/InteractiveRobot/src/components/RosBar.vue new file mode 100644 index 0000000..a4f2f35 --- /dev/null +++ b/InteractiveRobot/src/components/RosBar.vue @@ -0,0 +1,250 @@ + + + + + diff --git a/InteractiveRobot/src/components/SideBar.vue b/InteractiveRobot/src/components/SideBar.vue new file mode 100644 index 0000000..ef2bf5f --- /dev/null +++ b/InteractiveRobot/src/components/SideBar.vue @@ -0,0 +1,84 @@ + + + + + diff --git a/InteractiveRobot/src/components/SubLayout.vue b/InteractiveRobot/src/components/SubLayout.vue new file mode 100644 index 0000000..cbb895e --- /dev/null +++ b/InteractiveRobot/src/components/SubLayout.vue @@ -0,0 +1,108 @@ + + + + + diff --git a/InteractiveRobot/src/components/TopBar.vue b/InteractiveRobot/src/components/TopBar.vue new file mode 100644 index 0000000..41c435f --- /dev/null +++ b/InteractiveRobot/src/components/TopBar.vue @@ -0,0 +1,43 @@ + + + + + diff --git a/InteractiveRobot/src/components/WeightTuner.vue b/InteractiveRobot/src/components/WeightTuner.vue new file mode 100644 index 0000000..01f1767 --- /dev/null +++ b/InteractiveRobot/src/components/WeightTuner.vue @@ -0,0 +1,64 @@ + + + + + diff --git a/InteractiveRobot/src/components/WeightTunerVertical.vue b/InteractiveRobot/src/components/WeightTunerVertical.vue new file mode 100644 index 0000000..85cbaed --- /dev/null +++ b/InteractiveRobot/src/components/WeightTunerVertical.vue @@ -0,0 +1,95 @@ + + + + + diff --git a/InteractiveRobot/src/js_funs/online_rbf_policy.js b/InteractiveRobot/src/js_funs/online_rbf_policy.js new file mode 100644 index 0000000..a531f1b --- /dev/null +++ b/InteractiveRobot/src/js_funs/online_rbf_policy.js @@ -0,0 +1,19 @@ +function rbf(x, centre, sigma) { + return Math.exp(-Math.pow(x - centre, 2) / (2 * Math.pow(sigma, 2))); +} + +export function computeRbfCurve(nrPoints, weights) { + const centers = Array.from( + { length: weights.length }, + (_, i) => (i * nrPoints) / (weights.length - 1) + ); + const sigma = centers[1] / (2 * Math.sqrt(2 * Math.log(2))); + + let policy = Array(nrPoints).fill(0); + for (let x = 0; x < nrPoints; x++) { + for (let i = 0; i < centers.length; i++) { + policy[x] += weights[i] * rbf(x, centers[i], sigma); + } + } + return policy; +} diff --git a/InteractiveRobot/src/main.ts b/InteractiveRobot/src/main.ts new file mode 100644 index 0000000..90c5fac --- /dev/null +++ b/InteractiveRobot/src/main.ts @@ -0,0 +1,28 @@ +import { createApp } from "vue"; + +// Pinia Store +import { createPinia } from "pinia"; + +// Vuetify +import "vuetify/styles"; +import { createVuetify } from "vuetify"; +import * as components from "vuetify/components"; +import * as directives from "vuetify/directives"; +import "@mdi/font/css/materialdesignicons.css"; + +import App from "./App.vue"; + +const pinia = createPinia(); +const vuetify = createVuetify({ + theme: { + defaultTheme: "dark", + }, + components, + directives, +}); + +const app = createApp(App); + +app.use(pinia); +app.use(vuetify); +app.mount("#app"); diff --git a/InteractiveRobot/src/store/BaseWebsiteStore.js b/InteractiveRobot/src/store/BaseWebsiteStore.js new file mode 100644 index 0000000..5fc97dd --- /dev/null +++ b/InteractiveRobot/src/store/BaseWebsiteStore.js @@ -0,0 +1,27 @@ +import { defineStore } from "pinia"; + +export const useBWStore = defineStore("Base Website Store", { + state: () => { + return { + play: false, + rosBarOpened: true, + rosConState: "not connected", + }; + }, + getters: { + getPlay: (state) => state.play, + getRosBarOpened: (state) => state.rosBarOpened, + getRosConState: (state) => state.rosConState, + }, + actions: { + setPlay() { + this.play = !this.play; + }, + toggleRosBar() { + this.rosBarOpened = !this.rosBarOpened; + }, + setRosConState(value) { + this.rosConState = value; + }, + }, +}); diff --git a/InteractiveRobot/src/store/ControlStore.js b/InteractiveRobot/src/store/ControlStore.js new file mode 100644 index 0000000..488bab5 --- /dev/null +++ b/InteractiveRobot/src/store/ControlStore.js @@ -0,0 +1,81 @@ +import { defineStore } from "pinia"; + +export const useCStore = defineStore("Control Store", { + state: () => { + return { + env: "Reacher", + envs: ["Reacher", "Finger"], + env_dim: { + Reacher: 2, + Finger: 2, + }, + metric: "random", + metrics: ["random", "regular", "improvement", "max_acquisition"], + metrics_label: { + random: "Probability", + regular: "Repetition", + improvement: "Improvement Threshold", + max_acquisition: "Threshold", + }, + metric_limits: { + random: [0.0, 1.0, 0.01], + regular: [1, 100, 1], + improvement: [0.0, 1.0, 0.01], + max_acquisition: [1, 200, 1], + }, + acq_fun: "Expected Improvement", + acq_funs: [ + "Expected Improvement", + "Probability of Improvement", + "Upper Confidence Bound", + "Preference Expected Improvement", + ], + nr_episodes: 50, + nr_runs: 10, + metric_parameter: 0.5, + improvement_2: 5, + sendWeights: false, + runner: false, + fixed_seed: true, + save_result: true, + overwrite: false, + }; + }, + getters: { + getEnv: (state) => state.env, + getEnvdims: (state) => state.env_dims, + getMetric: (state) => state.metric, + getNrEpisodes: (state) => state.nr_episodes, + getNrRuns: (state) => state.nr_runs, + getMetricParameter: (state) => state.metric_parameter, + getSendWeights: (state) => state.sendWeights, + getRunner: (state) => state.runner, + getAcq: (state) => state.acq_fun, + }, + actions: { + setEnv(value) { + this.env = value; + }, + setMetric(value) { + this.metric = value; + }, + setNrEpisodes(value) { + this.nr_episodes = value; + }, + setNrRuns(value) { + this.nr_runs = value; + }, + setMetricParameter(value) { + this.metric_parameter = value; + }, + setSendWeights() { + this.sendWeights = !this.sendWeights; + }, + setRunner() { + this.runner = !this.runner; + }, + setAcq(value) { + this.acq_fun = value; + }, + }, +}); diff --git a/InteractiveRobot/src/store/PolicyStore.js b/InteractiveRobot/src/store/PolicyStore.js new file mode 100644 index 0000000..2595ca3 --- /dev/null +++ b/InteractiveRobot/src/store/PolicyStore.js @@ -0,0 +1,63 @@ +import { defineStore } from "pinia"; + +export const usePStore = defineStore("Policy Store", { + state: () => { + return { + policy: Array(10).fill(0), + policy_y: Array(10).fill(0), + nr_weights: 5, + weights: [0, 0, 0, 0, 0], + weights_y: [0, 0, 0, 0, 0], + weights_fixed: [false, false, false, false, false], + weights_fixed_y: [false, false, false, false, false], + max_steps: 100, + trigger: false, + }; + }, + getters: { + getPolicy: (state) => state.policy, + getPolicy_y: (state) => state.policy_y, + getNrWeights: (state) => state.nr_weights, + getWeights_Fixed: (state) => state.weights_fixed, + getWeights: (state) => state.weights, + getWeights_Fixed_y: (state) => state.weights_fixed_y, + getWeights_y: (state) => state.weights_y, + getMaxSteps: (state) => state.max_steps, + getTrigger: (state) => state.trigger, + }, + actions: { + setPolicy(value) { + this.policy = null; + this.policy = value; + }, + setPolicy_y(value) { + this.policy_y = null; + this.policy_y = value; + }, + setNrWeights(value) { + this.nr_weights = value; + this.weights = Array(this.nr_weights).fill(0); + this.weights_fixed = Array(this.nr_weights).fill(false); + this.weights_y = Array(this.nr_weights).fill(0); + this.weights_fixed_y = Array(this.nr_weights).fill(false); + this.trigger = !this.trigger; + }, + setWeights(value) { + this.weights = value; + }, + setWeights_y(value) { + this.weights_y = value; + }, + setMaxSteps(value) { + this.max_steps = value; + this.trigger = !this.trigger; + }, + setTrigger() { + this.trigger = !this.trigger; + }, + resetWeights_Fixed() { + this.weights_fixed = Array(this.nr_weights).fill(false); + this.weights_fixed_y = Array(this.nr_weights).fill(false); + }, + }, +}); diff --git a/InteractiveRobot/src/store/RLStore.js b/InteractiveRobot/src/store/RLStore.js new file mode 100644 index 0000000..0851e5c --- /dev/null +++ b/InteractiveRobot/src/store/RLStore.js @@ -0,0 +1,58 @@ +import { defineStore } from "pinia"; + +export const useRLStore = defineStore("RL Store", { + state: () => { + return { + red: Array(153600).fill(120), + green: Array(153600).fill(120), + blue: Array(153600).fill(120), + width: 480, + height: 320, + current_time: 0, + current_run: 0, + current_episode: 0, + best_reward: 0.0, + last_user_reward: 0.0, + trigger: false, + }; + }, + getters: { + getRed: (state) => state.red, + getGreen: (state) => state.green, + getBlue: (state) => state.blue, + getHeight: (state) => state.height, + getWidth: (state) => state.width, + getCurrentTime: (state) => state.current_time, + getCurrentRun: (state) => state.current_run, + getCurrentEpisode: (state) => state.current_episode, + getBestReward: (state) => state.best_reward, + getLastUserReward: (state) => state.last_user_reward, + }, + actions: { + setRgbArrays(red, green, blue) { + this.red = red; + this.green = green; + this.blue = blue; + this.trigger = !this.trigger; + }, + setDim(height, width) { + this.height = height; + this.width = width; + }, + setCurrentTime(value) { + this.current_time = value; + }, + setCurrentRun(value) { + this.current_run = value; + }, + setCurrentEpisode(value) { + this.current_episode = value; + }, + setBestReward(value) { + this.best_reward = value; + }, + setLastUserReward(value) { + this.last_user_reward = value; + }, + }, +}); diff --git a/InteractiveRobot/src/store/RewardStore.js b/InteractiveRobot/src/store/RewardStore.js new file mode 100644 index 0000000..7648a84 --- /dev/null +++ b/InteractiveRobot/src/store/RewardStore.js @@ -0,0 +1,30 @@ +import { defineStore } from "pinia"; + +export const useRStore = defineStore("Reward Store", { + state: () => { + return { + reward_mean: [], + reward_std: [], + trigger: false, + }; + }, + getters: { + getMean: (state) => state.reward_mean, + getStd: (state) => state.reward_std, + getTrigger: (state) => state.trigger, + }, + actions: { + setMean(value) { + this.reward_mean = value; + }, + setStd(value) { + this.reward_std = value; + this.trigger = !this.trigger; + }, + addMeanManually(value) { + this.reward_mean[this.reward_mean.length] = value; + this.reward_std[this.reward_std.length] = 0; + this.trigger = !this.trigger; + }, + }, +}); diff --git a/InteractiveRobot/tsconfig.config.json b/InteractiveRobot/tsconfig.config.json new file mode 100644 index 0000000..424084a --- /dev/null +++ b/InteractiveRobot/tsconfig.config.json @@ -0,0 +1,8 @@ +{ + "extends": "@vue/tsconfig/tsconfig.node.json", + "include": ["vite.config.*", "vitest.config.*", "cypress.config.*", "playwright.config.*"], + "compilerOptions": { + "composite": true, + "types": ["node"] + } +} diff --git a/InteractiveRobot/tsconfig.json b/InteractiveRobot/tsconfig.json new file mode 100644 index 0000000..8d23599 --- /dev/null +++ b/InteractiveRobot/tsconfig.json @@ -0,0 +1,16 @@ +{ + "extends": "@vue/tsconfig/tsconfig.web.json", + "include": ["env.d.ts", "src/**/*", "src/**/*.vue"], + "compilerOptions": { + "baseUrl": ".", + "paths": { + "@/*": ["./src/*"] + } + }, + + "references": [ + { + "path": "./tsconfig.config.json" + } + ] +} diff --git a/InteractiveRobot/vite.config.ts b/InteractiveRobot/vite.config.ts new file mode 100644 index 0000000..b20d948 --- /dev/null +++ b/InteractiveRobot/vite.config.ts @@ -0,0 +1,15 @@ +import { fileURLToPath, URL } from "node:url"; + +import { defineConfig } from "vite"; +import vue from "@vitejs/plugin-vue"; +import vueJsx from "@vitejs/plugin-vue-jsx"; + +// https://vitejs.dev/config/ +export default defineConfig({ + plugins: [vue(), vueJsx()], + resolve: { + alias: { + "@": fileURLToPath(new URL("./src", import.meta.url)), + }, + }, +});