Merge pull request #27 from eager-dev/fix/process_comments

Fix/process comments
eager-dev · May 10, 2022 · ab836c4 · ab836c4
2 parents 70f9060 + 70f790d
commit ab836c4
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diff --git a/README.rst b/README.rst
@@ -39,6 +39,8 @@ The following tutorials are currently available:
 - `Tutorial 6: More Informative Rendering <https://colab.research.google.com/github/eager-dev/eagerx_tutorials/blob/master/tutorials/pendulum/6_rendering.ipynb>`_
 - `Tutorial 7: Reset Routines <https://colab.research.google.com/github/eager-dev/eagerx_tutorials/blob/master/tutorials/pendulum/7_reset_routine.ipynb>`_
 
+A page with the exercises only is available `here <https://araffin.github.io/tools-for-robotic-rl-icra2022/notebooks/eagerx_exercises.html>`_.
+
 How to run the tutorials locally?
 =================================
 
@@ -89,5 +91,5 @@ If you are using EAGERx for your scientific publications, please cite:
     }
 
 Acknowledgements
-=================
+================
 EAGERx is funded by the `OpenDR <https://opendr.eu/>`_ Horizon 2020 project.
diff --git a/eagerx_tutorials/pendulum/layover.py → eagerx_tutorials/pendulum/overlay.py b/eagerx_tutorials/pendulum/layover.py → eagerx_tutorials/pendulum/overlay.py
@@ -7,19 +7,19 @@
 import numpy as np
 
 
-class Layover(eagerx.Node):
+class Overlay(eagerx.Node):
     @staticmethod
-    @register.spec("Layover", eagerx.Node)
+    @register.spec("Overlay", eagerx.Node)
     def spec(
         spec,
         name: str,
         rate: float,
         process: int = eagerx.process.ENVIRONMENT,
         color: str = "cyan",
     ):
-        """Layover spec"""
+        """Overlay spec"""
         # Fills spec with defaults parameters
-        spec.initialize(Layover)
+        spec.initialize(Overlay)
 
         # Adjust default params
         spec.config.update(

diff --git a/poetry.lock b/poetry.lock
diff --git a/tests/test_gymbridge.py b/tests/test_gymbridge.py
@@ -35,17 +35,17 @@ def test_gymbridge():
     graph.connect(source=pendulum.sensors.theta, observation="angle", window=1)
     graph.connect(source=pendulum.sensors.dtheta, observation="angular_velocity", window=1)
 
-    # Create layover node
-    import eagerx_tutorials.pendulum.layover  # noqa:
-    layover = eagerx.Node.make("Layover", "layover", rate)
-    layover.inputs.u.space_converter = pendulum.actuators.u.space_converter
-    graph.add(layover)
+    # Create overlay node
+    import eagerx_tutorials.pendulum.overlay  # noqa:
+    overlay = eagerx.Node.make("Overlay", "overlay", rate)
+    overlay.inputs.u.space_converter = pendulum.actuators.u.space_converter
+    graph.add(overlay)
 
     # Render image
-    graph.connect(source=pendulum.sensors.image, target=layover.inputs.base_image)
-    graph.connect(source=reset.outputs.u, target=layover.inputs.u)
-    graph.connect(source=pendulum.sensors.theta, target=layover.inputs.theta)
-    graph.render(source=layover.outputs.image, rate=rate)
+    graph.connect(source=pendulum.sensors.image, target=overlay.inputs.base_image)
+    graph.connect(source=reset.outputs.u, target=overlay.inputs.u)
+    graph.connect(source=pendulum.sensors.theta, target=overlay.inputs.theta)
+    graph.render(source=overlay.outputs.image, rate=rate)
 
     # Make OdeBridge
     bridge = eagerx.Bridge.make("OdeBridge", rate=rate)

diff --git a/tutorials/pendulum/1_environment_creation.ipynb b/tutorials/pendulum/1_environment_creation.ipynb
@@ -30,14 +30,17 @@
     "\n",
     "with $\\theta$ the angle w.r.t. upright position, $\\dot{\\theta}$ the angular velocity, $u$ the input voltage, $J$ the inertia, $m$ the mass, $g$ the gravitational constant, $l$ the length of the pendulum, $b$ the motor viscous friction constant, $K$ the motor constant and $R$ the electric resistance.\n",
     "\n",
-    "<img src=\"./figures/pendulum.GIF\" width=\"480\" />"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "74487e37-a1bc-4640-a9da-6f6cf27b4519",
-   "metadata": {},
-   "source": [
+    "<img src=\"./figures/pendulum.GIF\" width=\"480\" />\n",
+    "\n",
+    "\n",
+    "## Activate GPU (Colab only)\n",
+    "\n",
+    "When in Colab, you'll need to enable GPUs for the notebook:\n",
+    "\n",
+    "- Navigate to Edit→Notebook Settings\n",
+    "- select GPU from the Hardware Accelerator drop-down\n",
+    "\n",
+    "\n",
     "## Notebook Setup\n",
     "\n",
     "In order to be able to run the code, we need to install the *eagerx_tutorials* package and ROS."
@@ -71,13 +74,7 @@
     "# Setup interactive notebook\n",
     "# Required in interactive notebooks only.\n",
     "from eagerx_tutorials import helper\n",
-    "helper.setup_notebook()\n",
-    "env = None\n",
-    "\n",
-    "# Allows reloading of registered entites from changed files\n",
-    "# Required in interactive notebooks only.\n",
-    "%reload_ext autoreload\n",
-    "%autoreload 1"
+    "helper.setup_notebook()"
    ]
   },
   {
@@ -109,8 +106,8 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "... logging to /home/jelle/.ros/log/8a5aba50-cab1-11ec-9a64-612c3b44983f/roslaunch-jelle-Alienware-m15-R4-18483.log\n",
-      "\u001b[1mstarted roslaunch server http://145.94.217.36:45875/\u001b[0m\n",
+      "... logging to /home/jelle/.ros/log/91331988-d071-11ec-8414-1f5d9a0d084b/roslaunch-jelle-Alienware-m15-R4-7957.log\n",
+      "\u001b[1mstarted roslaunch server http://145.94.219.156:41309/\u001b[0m\n",
       "ros_comm version 1.15.14\n",
       "\n",
       "\n",
@@ -124,17 +121,17 @@
       "NODES\n",
       "\n",
       "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [18537]\u001b[0m\n",
+      "\u001b[1mprocess[master]: started with pid [8025]\u001b[0m\n",
       "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b[1msetting /run_id to 8a5aba50-cab1-11ec-9a64-612c3b44983f\u001b[0m\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [18562]\u001b[0m\n",
+      "\u001b[1msetting /run_id to 91331988-d071-11ec-8414-1f5d9a0d084b\u001b[0m\n",
+      "\u001b[1mprocess[rosout-1]: started with pid [8052]\u001b[0m\n",
       "started core service [/rosout]\n"
      ]
     },
     {
      "data": {
       "text/plain": [
-       "<roslaunch.parent.ROSLaunchParent at 0x7f97dbce6610>"
+       "<roslaunch.parent.ROSLaunchParent at 0x7f432935b040>"
       ]
      },
      "execution_count": 2,
@@ -422,112 +419,113 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "[INFO] [1651562443.303998]: Node \"/PendulumEnv/env/supervisor\" initialized.\n",
-      "[INFO] [1651562443.448747]: Node \"/PendulumEnv/bridge\" initialized.\n",
-      "[INFO] [1651562443.646331]: Node \"/PendulumEnv/environment\" initialized.\n",
-      "[INFO] [1651562443.721903]: Node \"/PendulumEnv/env/render\" initialized.\n",
-      "[INFO] [1651562443.826245]: Node \"/PendulumEnv/pendulum/theta\" initialized.\n",
-      "[INFO] [1651562443.850971]: Node \"/PendulumEnv/pendulum/dtheta\" initialized.\n",
-      "[INFO] [1651562443.890103]: START RENDERING!\n",
-      "Using cpu device\n",
+      "[INFO] [1652194674.650959]: Node \"/PendulumEnv/env/supervisor\" initialized.\n",
+      "[INFO] [1652194674.800871]: Node \"/PendulumEnv/bridge\" initialized.\n",
+      "[INFO] [1652194675.006478]: Node \"/PendulumEnv/environment\" initialized.\n",
+      "[INFO] [1652194675.100023]: Node \"/PendulumEnv/pendulum/theta\" initialized.\n",
+      "[INFO] [1652194675.171504]: Waiting for nodes \"['env/render']\" to be initialized.\n",
+      "[INFO] [1652194675.176602]: Node \"/PendulumEnv/pendulum/dtheta\" initialized.\n",
+      "Using cuda device\n",
       "Wrapping the env with a `Monitor` wrapper\n",
       "Wrapping the env in a DummyVecEnv.\n",
-      "[INFO] [1651562443.916023]: Adding object \"pendulum\" of type \"Pendulum\" to the simulator.\n",
-      "[INFO] [1651562443.930199]: Node \"/PendulumEnv/pendulum/x\" initialized.\n",
-      "[INFO] [1651562443.941389]: [pendulum/image] START RENDERING!\n",
-      "[INFO] [1651562443.947704]: Node \"/PendulumEnv/pendulum/image\" initialized.\n",
-      "[INFO] [1651562443.960112]: Node \"/PendulumEnv/pendulum/pendulum_actuator\" initialized.\n",
-      "[INFO] [1651562443.972254]: Node \"/PendulumEnv/pendulum/u\" initialized.\n",
-      "[INFO] [1651562444.023590]: Waiting for nodes \"['pendulum/image', 'pendulum/pendulum_actuator', 'pendulum/u']\" to be initialized.\n",
-      "[INFO] [1651562444.463799]: Nodes initialized.\n",
-      "[INFO] [1651562444.535006]: Pipelines initialized.\n",
+      "[INFO] [1652194675.278533]: Adding object \"pendulum\" of type \"Pendulum\" to the simulator.\n",
+      "[INFO] [1652194675.295990]: Node \"/PendulumEnv/pendulum/x\" initialized.\n",
+      "[INFO] [1652194675.312602]: [pendulum/image] START RENDERING!\n",
+      "[INFO] [1652194675.312833]: Node \"/PendulumEnv/pendulum/image\" initialized.\n",
+      "[INFO] [1652194675.328349]: Node \"/PendulumEnv/pendulum/pendulum_actuator\" initialized.\n",
+      "[INFO] [1652194675.342806]: Node \"/PendulumEnv/pendulum/u\" initialized.\n",
+      "[INFO] [1652194679.730279]: Nodes initialized.\n",
+      "[INFO] [1652194679.784066]: Pipelines initialized.\n",
       "---------------------------------\n",
       "| rollout/           |          |\n",
       "|    ep_len_mean     | 101      |\n",
-      "|    ep_rew_mean     | -948     |\n",
+      "|    ep_rew_mean     | -975     |\n",
       "| time/              |          |\n",
       "|    episodes        | 4        |\n",
-      "|    fps             | 71       |\n",
-      "|    time_elapsed    | 5        |\n",
+      "|    fps             | 81       |\n",
+      "|    time_elapsed    | 4        |\n",
       "|    total_timesteps | 404      |\n",
       "| train/             |          |\n",
-      "|    actor_loss      | 17.8     |\n",
-      "|    critic_loss     | 10.2     |\n",
-      "|    ent_coef        | 0.916    |\n",
-      "|    ent_coef_loss   | -0.116   |\n",
+      "|    actor_loss      | 18.2     |\n",
+      "|    critic_loss     | 7.65     |\n",
+      "|    ent_coef        | 0.917    |\n",
+      "|    ent_coef_loss   | -0.113   |\n",
       "|    learning_rate   | 0.0003   |\n",
       "|    n_updates       | 303      |\n",
       "---------------------------------\n",
       "---------------------------------\n",
       "| rollout/           |          |\n",
       "|    ep_len_mean     | 101      |\n",
-      "|    ep_rew_mean     | -915     |\n",
+      "|    ep_rew_mean     | -958     |\n",
       "| time/              |          |\n",
       "|    episodes        | 8        |\n",
-      "|    fps             | 69       |\n",
-      "|    time_elapsed    | 11       |\n",
+      "|    fps             | 76       |\n",
+      "|    time_elapsed    | 10       |\n",
       "|    total_timesteps | 808      |\n",
       "| train/             |          |\n",
-      "|    actor_loss      | 31       |\n",
-      "|    critic_loss     | 9.61     |\n",
-      "|    ent_coef        | 0.832    |\n",
-      "|    ent_coef_loss   | -0.193   |\n",
+      "|    actor_loss      | 32.2     |\n",
+      "|    critic_loss     | 3.78     |\n",
+      "|    ent_coef        | 0.831    |\n",
+      "|    ent_coef_loss   | -0.221   |\n",
       "|    learning_rate   | 0.0003   |\n",
       "|    n_updates       | 707      |\n",
       "---------------------------------\n",
       "---------------------------------\n",
       "| rollout/           |          |\n",
       "|    ep_len_mean     | 101      |\n",
-      "|    ep_rew_mean     | -907     |\n",
+      "|    ep_rew_mean     | -928     |\n",
       "| time/              |          |\n",
       "|    episodes        | 12       |\n",
-      "|    fps             | 68       |\n",
-      "|    time_elapsed    | 17       |\n",
+      "|    fps             | 75       |\n",
+      "|    time_elapsed    | 16       |\n",
       "|    total_timesteps | 1212     |\n",
       "| train/             |          |\n",
-      "|    actor_loss      | 44.7     |\n",
-      "|    critic_loss     | 4.64     |\n",
-      "|    ent_coef        | 0.742    |\n",
-      "|    ent_coef_loss   | -0.385   |\n",
+      "|    actor_loss      | 46.2     |\n",
+      "|    critic_loss     | 3.51     |\n",
+      "|    ent_coef        | 0.74     |\n",
+      "|    ent_coef_loss   | -0.39    |\n",
       "|    learning_rate   | 0.0003   |\n",
       "|    n_updates       | 1111     |\n",
       "---------------------------------\n",
       "---------------------------------\n",
       "| rollout/           |          |\n",
       "|    ep_len_mean     | 101      |\n",
-      "|    ep_rew_mean     | -889     |\n",
+      "|    ep_rew_mean     | -899     |\n",
       "| time/              |          |\n",
       "|    episodes        | 16       |\n",
-      "|    fps             | 68       |\n",
-      "|    time_elapsed    | 23       |\n",
+      "|    fps             | 74       |\n",
+      "|    time_elapsed    | 21       |\n",
       "|    total_timesteps | 1616     |\n",
       "| train/             |          |\n",
-      "|    actor_loss      | 59.7     |\n",
-      "|    critic_loss     | 3.83     |\n",
-      "|    ent_coef        | 0.655    |\n",
-      "|    ent_coef_loss   | -0.481   |\n",
+      "|    actor_loss      | 61.2     |\n",
+      "|    critic_loss     | 5.8      |\n",
+      "|    ent_coef        | 0.657    |\n",
+      "|    ent_coef_loss   | -0.411   |\n",
       "|    learning_rate   | 0.0003   |\n",
       "|    n_updates       | 1515     |\n",
       "---------------------------------\n",
-      "[INFO] [1651562470.290369]: [PendulumEnv][/PendulumEnv/bridge] Shutting down.\n",
-      "[INFO] [1651562470.291187]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/x'.\n",
-      "[INFO] [1651562470.291922]: [/PendulumEnv/pendulum/x] Shutting down.\n",
-      "[INFO] [1651562470.341862]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/image'.\n",
-      "[INFO] [1651562470.342609]: [/PendulumEnv/pendulum/image] Shutting down.\n",
-      "[INFO] [1651562470.343375]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/pendulum_actuator'.\n",
-      "[INFO] [1651562470.343929]: [/PendulumEnv/pendulum/pendulum_actuator] Shutting down.\n",
-      "[INFO] [1651562470.344609]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/u'.\n",
-      "[INFO] [1651562470.345255]: [/PendulumEnv/pendulum/u] Shutting down.\n",
-      "[INFO] [1651562470.345999]: [/PendulumEnv/bridge] Shutting down.\n",
-      "[INFO] [1651562470.347328]: [PendulumEnv][/PendulumEnv/env/render] Shutting down.\n",
-      "[INFO] [1651562470.347893]: [/PendulumEnv/env/render] Shutting down.\n",
-      "[INFO] [1651562470.350011]: [PendulumEnv][/PendulumEnv/pendulum/theta] Shutting down.\n",
-      "[INFO] [1651562470.350553]: [/PendulumEnv/pendulum/theta] Shutting down.\n",
-      "[INFO] [1651562470.351172]: [PendulumEnv][/PendulumEnv/pendulum/dtheta] Shutting down.\n",
-      "[INFO] [1651562470.351760]: [/PendulumEnv/pendulum/dtheta] Shutting down.\n",
-      "[INFO] [1651562470.352371]: [/PendulumEnv/env/supervisor] Shutting down.\n",
-      "[INFO] [1651562470.355477]: [/PendulumEnv/environment] Shutting down.\n",
-      "[INFO] [1651562470.357374]: Parameters under namespace \"/PendulumEnv\" deleted.\n"
+      "[INFO] [1652194703.616794]: [PendulumEnv] Send termination signal to '/PendulumEnv/env/render'.\n",
+      "[INFO] [1652194703.617589]: [PendulumEnv][/PendulumEnv/bridge] Shutting down.\n",
+      "[INFO] [1652194703.618204]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/x'.\n",
+      "[INFO] [1652194703.619133]: [/PendulumEnv/pendulum/x] Shutting down.\n",
+      "[INFO] [1652194703.670342]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/image'.\n",
+      "[INFO] [1652194703.670951]: [/PendulumEnv/pendulum/image] Shutting down.\n",
+      "[INFO] [1652194703.671552]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/pendulum_actuator'.\n",
+      "[INFO] [1652194703.672078]: [/PendulumEnv/pendulum/pendulum_actuator] Shutting down.\n",
+      "[INFO] [1652194703.672690]: [/PendulumEnv/bridge] Shutting down '/PendulumEnv/pendulum/u'.\n",
+      "[INFO] [1652194703.673275]: [/PendulumEnv/pendulum/u] Shutting down.\n",
+      "[INFO] [1652194703.673898]: [/PendulumEnv/bridge] Shutting down.\n",
+      "[INFO] [1652194703.675176]: [PendulumEnv][/PendulumEnv/pendulum/theta] Shutting down.\n",
+      "[INFO] [1652194703.675735]: [/PendulumEnv/pendulum/theta] Shutting down.\n",
+      "[INFO] [1652194703.676324]: [PendulumEnv][/PendulumEnv/pendulum/dtheta] Shutting down.\n",
+      "[INFO] [1652194703.676883]: [/PendulumEnv/pendulum/dtheta] Shutting down.\n",
+      "[INFO] [1652194703.677540]: [/PendulumEnv/env/supervisor] Shutting down.\n",
+      "[INFO] [1652194703.680542]: [/PendulumEnv/environment] Shutting down.\n",
+      "[INFO] [1652194703.682569]: Parameters under namespace \"/PendulumEnv\" deleted.\n",
+      "[INFO] [1652194676.098388]: START RENDERING!\n",
+      "[INFO] [1652194676.113344]: Node \"/PendulumEnv/env/render\" initialized.\n",
+      "[INFO] [1652194703.617740]: [/PendulumEnv/env/render] Shutting down.\n",
+      "shutdown request: [/eagerx_core] Reason: new node registered with same name\n"
      ]
     }
    ],
@@ -571,7 +569,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.13"
+   "version": "3.8.10"
   }
  },
  "nbformat": 4,