From 9633f547db606a2d61825bbaae53c98ace98590b Mon Sep 17 00:00:00 2001
From: cliebig2019 <c.liebig@campus.tu-berlin.de>
Date: Thu, 21 Jul 2022 12:24:33 +0200
Subject: [PATCH 1/4] custom neural network from json

---
 training/scripts/train_agent.py | 2 +-
 training/tools/argsparser.py    | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/training/scripts/train_agent.py b/training/scripts/train_agent.py
index 447787e2..c03cc9f1 100755
--- a/training/scripts/train_agent.py
+++ b/training/scripts/train_agent.py
@@ -133,7 +133,7 @@ def main():
             verbose=1,
         )
     elif args.agent is not None:
-        agent: Union[Type[BaseAgent], Type[ActorCriticPolicy]] = AgentFactory.instantiate(args.agent)
+        agent: Union[Type[BaseAgent], Type[ActorCriticPolicy]] = AgentFactory.instantiate(args.agent, path = args.path)
         if isinstance(agent, BaseAgent):
             model = PPO(
                 agent.type.value,
diff --git a/training/tools/argsparser.py b/training/tools/argsparser.py
index 46645e7e..cb9110a9 100644
--- a/training/tools/argsparser.py
+++ b/training/tools/argsparser.py
@@ -23,6 +23,7 @@ def training_args(parser):
     import rosnav.model.custom_policy
     import rosnav.model.custom_sb3_policy
     from rosnav.model.agent_factory import AgentFactory
+    import rosnav.model.custom_policy_from_json
 
     group.add_argument(
         "--agent",
@@ -60,6 +61,11 @@ def training_args(parser):
     parser.add_argument(
         "--tb", action="store_true", help="enables tensorboard logging"
     )
+    parser.add_argument(
+        "--path",
+        type=str,
+        help="path to the json file containing" "the neural network",
+    )
 
 
 def run_agent_args(parser):

From fc4a1af04706c2a73002c27ce3a694fcd6fefe94 Mon Sep 17 00:00:00 2001
From: cliebig2019 <82951475+cliebig2019@users.noreply.github.com>
Date: Thu, 21 Jul 2022 13:01:01 +0200
Subject: [PATCH 2/4] train_agent passing path to agentFactory

---
 training/scripts/train_agent.py | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 mode change 100755 => 100644 training/scripts/train_agent.py

diff --git a/training/scripts/train_agent.py b/training/scripts/train_agent.py
old mode 100755
new mode 100644

From 83424a590e3ffaf4eec5085667428d980f43f603 Mon Sep 17 00:00:00 2001
From: cliebig2019 <82951475+cliebig2019@users.noreply.github.com>
Date: Tue, 2 Aug 2022 14:44:38 +0200
Subject: [PATCH 3/4] rosparam to network file; new arg for custom network

---
 arena_bringup/launch/start_training.launch | 2 ++
 training/scripts/train_agent.py            | 2 +-
 training/tools/argsparser.py               | 5 -----
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/arena_bringup/launch/start_training.launch b/arena_bringup/launch/start_training.launch
index 6804fc9f..84ae6e3f 100644
--- a/arena_bringup/launch/start_training.launch
+++ b/arena_bringup/launch/start_training.launch
@@ -24,6 +24,8 @@
   <param name="robot_yaml_path" value="$(find arena-simulation-setup)/robot/$(arg model)/$(arg model).model.yaml" />
   <param name="tmp_model_path" value="/tmp" />
 
+  <param name="custom_network_path" value="/home/bababerlin/network.json"/>
+
   <rosparam command="load" file="$(find arena_bringup)/params/flatland.yaml" />
   <rosparam command="load" file="$(find arena_bringup)/params/drl.yaml" />
 
diff --git a/training/scripts/train_agent.py b/training/scripts/train_agent.py
index c03cc9f1..447787e2 100644
--- a/training/scripts/train_agent.py
+++ b/training/scripts/train_agent.py
@@ -133,7 +133,7 @@ def main():
             verbose=1,
         )
     elif args.agent is not None:
-        agent: Union[Type[BaseAgent], Type[ActorCriticPolicy]] = AgentFactory.instantiate(args.agent, path = args.path)
+        agent: Union[Type[BaseAgent], Type[ActorCriticPolicy]] = AgentFactory.instantiate(args.agent)
         if isinstance(agent, BaseAgent):
             model = PPO(
                 agent.type.value,
diff --git a/training/tools/argsparser.py b/training/tools/argsparser.py
index cb9110a9..127dc53f 100644
--- a/training/tools/argsparser.py
+++ b/training/tools/argsparser.py
@@ -61,11 +61,6 @@ def training_args(parser):
     parser.add_argument(
         "--tb", action="store_true", help="enables tensorboard logging"
     )
-    parser.add_argument(
-        "--path",
-        type=str,
-        help="path to the json file containing" "the neural network",
-    )
 
 
 def run_agent_args(parser):

From 018dbb5680bb5b22990a18375d685e66f556a722 Mon Sep 17 00:00:00 2001
From: cliebig2019 <82951475+cliebig2019@users.noreply.github.com>
Date: Thu, 25 Aug 2022 17:00:19 +0200
Subject: [PATCH 4/4] changed rosparam custom_network_path

---
 arena_bringup/launch/start_training.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/arena_bringup/launch/start_training.launch b/arena_bringup/launch/start_training.launch
index 84ae6e3f..8a69b9e5 100644
--- a/arena_bringup/launch/start_training.launch
+++ b/arena_bringup/launch/start_training.launch
@@ -24,7 +24,8 @@
   <param name="robot_yaml_path" value="$(find arena-simulation-setup)/robot/$(arg model)/$(arg model).model.yaml" />
   <param name="tmp_model_path" value="/tmp" />
 
-  <param name="custom_network_path" value="/home/bababerlin/network.json"/>
+  <!-- Path to a json file to load custom neural network -->
+  <param name="custom_network_path" value="../network.json"/>
 
   <rosparam command="load" file="$(find arena_bringup)/params/flatland.yaml" />
   <rosparam command="load" file="$(find arena_bringup)/params/drl.yaml" />