Updates on slides (#26)

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
Co-authored-by: Sebastian Castro <sebas.a.castro@gmail.com>

Author: ct2034

.github/workflows/ci.yml

@@ -70,24 +70,36 @@ jobs:
         uses: actions/checkout@v4
       - name: Copy slides to main directory
         run: cp -r slides/* .
-      - name: Set up pandoc
-        uses: maxheld83/pandoc@v2.1.0
+      - name: Run pandoc
+        uses: docker://pandoc/latex:3.7
         with:
-          args: "-t beamer main.md -o slides.pdf --listings"
+          args: "-t beamer main.md -o slides.pdf --listings --slide-level=2"
       - name: Upload slides
         uses: actions/upload-artifact@main
         with:
           name: slides.pdf
           path: slides.pdf
-      - name: Slides as release
+      - name: Non-latest slides as release
         uses: ncipollo/release-action@v1
         with:
           artifacts: 'slides.pdf'
           token: ${{ secrets.GITHUB_TOKEN }}
           commit: ${{ github.sha }}
           allowUpdates: true
           name: Workshop Slides
-          tag: slides
+          tag: slides-pr${{ github.event.pull_request.number }}
+          prerelease: true
+        if: github.event_name == 'pull_request'
+      - name: Latest slides as release
+        uses: ncipollo/release-action@v1
+        with:
+          artifacts: 'slides.pdf'
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit: ${{ github.sha }}
+          allowUpdates: true
+          name: Workshop Slides
+          tag: slides-latest
+          makeLatest: true
         if: github.ref == 'refs/heads/main'
   pytest:
     runs-on: ubuntu-latest

.pre-commit-config.yaml

@@ -26,6 +26,7 @@ repos:
       - id: requirements-txt-fixer
       - id: sort-simple-yaml
       - id: trailing-whitespace
+        exclude: slides/main.md$
 
   # Autoformats Python code.
   - repo: https://github.com/psf/black.git

pyrobosim_ros_gym/envs/greenhouse.py

@@ -375,7 +375,6 @@ def dense_reward(env, action):
     terminated = all(env.watered.values())
     if terminated:
         print(f"💧 Watered all good plants! Succeeded in {env.step_number} steps.")
-        reward += 8.0
     return reward, terminated
 
 

pyrobosim_ros_gym/eval.py

@@ -11,27 +11,29 @@
 import argparse
 
 import rclpy
-from rclpy.node import Node
 from gymnasium.spaces import Discrete
+from rclpy.node import Node
 from stable_baselines3.common.base_class import BaseAlgorithm
 
 from pyrobosim_ros_gym import get_config
 from pyrobosim_ros_gym.envs import available_envs_w_subtype, get_env_by_name
 from pyrobosim_ros_gym.policies import ManualPolicy, model_and_env_type_from_path
 
+MANUAL_STR = "manual"
+
 
 def get_args() -> argparse.Namespace:
     """Helper function to parse the command-line arguments."""
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "--model",
         type=str,
-        help="The name of the model to evaluate. Can be 'manual' for manual control.",
+        help=f"The path of the model to evaluate. Can be '{MANUAL_STR}' for manual control.",
     )
     parser.add_argument(
         "--env",
         type=str,
-        help="The name of the environment to use if '--model manual' is selected.",
+        help=f"The name of the environment to use if '--model {MANUAL_STR}' is selected.",
         choices=available_envs_w_subtype(),
     )
     parser.add_argument(
@@ -50,6 +52,13 @@ def get_args() -> argparse.Namespace:
         "--realtime", action="store_true", help="If true, slows down to real time."
     )
     args = parser.parse_args()
+
+    # Ensure '--env' is provided if '--model' is 'manual'
+    if args.model == MANUAL_STR and not args.env:
+        parser.error(f"--env must be specified when --model is '{MANUAL_STR}'.")
+    if args.env and args.model is None:
+        print("--env is specified but --model is not. Defaulting to manual control.")
+        args.model = MANUAL_STR
     return args
 
 
@@ -62,7 +71,7 @@ def get_args() -> argparse.Namespace:
 
     # Load the model and environment
     model: BaseAlgorithm | ManualPolicy
-    if args.model == "manual":
+    if args.model == MANUAL_STR:
         env = get_env_by_name(
             args.env,
             node,

pyrobosim_ros_gym/policies/__init__.py

@@ -13,6 +13,9 @@
 from stable_baselines3.common.base_class import BaseAlgorithm
 
 
+AVAILABLE_POLICIES = {alg.__name__: alg for alg in (DQN, PPO, SAC, A2C)}
+
+
 class ManualPolicy:
     """A policy that allows manual keyboard control of the robot."""
 
@@ -53,14 +56,9 @@ def model_and_env_type_from_path(model_path: str) -> tuple[BaseAlgorithm, str]:
     algorithm = model_name_parts[1]
 
     # Load the model
-    if algorithm == "DQN":
-        model: BaseAlgorithm = DQN.load(model_path, env=None)
-    elif algorithm == "PPO":
-        model = PPO.load(model_path, env=None)
-    elif algorithm == "SAC":
-        model = SAC.load(model_path, env=None)
-    elif algorithm == "A2C":
-        model = A2C.load(model_path, env=None)
+    if algorithm in AVAILABLE_POLICIES:
+        model_class = AVAILABLE_POLICIES[algorithm]
+        model = model_class.load(model_path)
     else:
         raise RuntimeError(f"Invalid algorithm type: {algorithm}")
 

pyrobosim_ros_gym/policy_node.py

@@ -48,7 +48,7 @@ def __init__(self, args: argparse.Namespace, executor):
             cancel_callback=self.cancel_policy,
         )
 
-        self.get_logger().info(f"Started policy node with model '{self.model}'.")
+        self.get_logger().info(f"Started policy node with model '{args.model}'.")
 
     def cancel_policy(self, goal_handle):
         self.get_logger().info("Canceling policy execution...")

slides/README.md

@@ -2,6 +2,10 @@
 
 The accompanying slides are built with [Pandoc](https://pandoc.org/) and `pdflatex`.
 
+Refer to <https://pandoc.org/MANUAL.html#variables-for-beamer-slides> for useful information.
+
+## Running pandoc natively
+
 You must first install these tools:
 
 ```bash
@@ -11,7 +15,18 @@ sudo apt install pandoc texlive-latex-base texlive-latex-extra
 Then, to build the slides:
 
 ```bash
-pandoc -t beamer main.md -o slides.pdf --listings
+pandoc -t beamer main.md -o slides.pdf --listings --slide-level=2
 ```
 
-Refer to https://pandoc.org/MANUAL.html#variables-for-beamer-slides for useful information.
+## Running pandoc with Docker (recommended)
+
+Or use the docker image that is also used in CI:
+(Run this command from the `slides/` directory)
+
+```bash
+docker run \
+    --rm \
+    --volume "$(pwd):/data" \
+    --user $(id -u):$(id -g) \
+    pandoc/latex:3.7 -t beamer main.md -o slides.pdf --listings --slide-level=2
+```