From 625eb4b8d025da54abfc65abf8e09f065eb50ae6 Mon Sep 17 00:00:00 2001
From: Liam Arbuckle <droidology@allianceofdroids.org.au>
Date: Tue, 10 Mar 2020 22:06:45 +0800
Subject: [PATCH 1/4] Update mars_full_sim.launch - remove need for gazebo
 @wakeuplearn #10

---
 simulation_ws/src/mars/launch/mars_full_sim.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/simulation_ws/src/mars/launch/mars_full_sim.launch b/simulation_ws/src/mars/launch/mars_full_sim.launch
index 22e6410..9699915 100644
--- a/simulation_ws/src/mars/launch/mars_full_sim.launch
+++ b/simulation_ws/src/mars/launch/mars_full_sim.launch
@@ -12,6 +12,7 @@
 	<include file="$(find gazebo_ros)/launch/empty_world.launch">
 		<arg name="world_name" value="$(arg world)"/>
 		<arg name="debug" value="$(arg debug)" />
+		gui = false
 		<arg name="gui" value="$(arg gui)" />
 		<arg name="paused" value="$(arg paused)"/>
 		<arg name="use_sim_time" value="$(arg use_sim_time)"/>
@@ -21,4 +22,4 @@
 
 	<include file="$(find mars)/launch/rover_mars.launch"/>
 	<node name="agent" pkg="mars" type="run_local_rl_agent.sh" output="screen" required="true"/>
-</launch>
\ No newline at end of file
+</launch>

From 1615b4c26b2dea6d69a9d76f1cd81ac05d872a3a Mon Sep 17 00:00:00 2001
From: Liam Arbuckle <droidology@allianceofdroids.org.au>
Date: Wed, 11 Mar 2020 02:34:06 +0800
Subject: [PATCH 2/4] Update mars_env.py

---
 simulation_ws/src/rl-agent/markov/environments/mars_env.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/simulation_ws/src/rl-agent/markov/environments/mars_env.py b/simulation_ws/src/rl-agent/markov/environments/mars_env.py
index 9b0f3b4..7eb7d8e 100644
--- a/simulation_ws/src/rl-agent/markov/environments/mars_env.py
+++ b/simulation_ws/src/rl-agent/markov/environments/mars_env.py
@@ -484,8 +484,7 @@ def reward_function(self):
             """
             progress = INITIAL_DISTANCE_TO_CHECKPOINT / self.current_distance_to_checkpoint
             
-            if progress >=1.3 and progress <1.7:
-                # Determine if Rover already received one time reward for reaching this waypoint
+            if progress >=1.3 and progress <1.7: # Determine if Rover already received one time reward for reaching this waypoint
                 if not self.reached_waypoint_1:  
                     self.reached_waypoint_1 = True
                     print("Congratulations! The rover has reached waypoint 1!")

From bd5ea9439b9e1fbe36c9710748ee360a46eac4bb Mon Sep 17 00:00:00 2001
From: Liam Arbuckle <droidology@allianceofdroids.org.au>
Date: Wed, 11 Mar 2020 02:52:28 +0800
Subject: [PATCH 3/4] #13

---
 simulation_ws/src/rl-agent/markov/environments/mars_env.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/simulation_ws/src/rl-agent/markov/environments/mars_env.py b/simulation_ws/src/rl-agent/markov/environments/mars_env.py
index 7eb7d8e..1891868 100644
--- a/simulation_ws/src/rl-agent/markov/environments/mars_env.py
+++ b/simulation_ws/src/rl-agent/markov/environments/mars_env.py
@@ -478,9 +478,9 @@ def reward_function(self):
             
 
             # No Episode ending events - continue to calculate reward - general waypoints not helpful
-            # smooth reward with no waypoints
+           """ # smooth reward with no waypoints
             multiplier = 1 - (self.current_distance_to_checkpoint/INITIAL_DISTANCE_TO_CHECKPOINT)**4
-            
+            """
             """
             progress = INITIAL_DISTANCE_TO_CHECKPOINT / self.current_distance_to_checkpoint
             

From 0b7363e4bb74f4859d4e50e7f2974950e873426d Mon Sep 17 00:00:00 2001
From: Liam Arbuckle <droidology@allianceofdroids.org.au>
Date: Wed, 11 Mar 2020 02:54:34 +0800
Subject: [PATCH 4/4] #13 - waypoints only

---
 simulation_ws/src/rl-agent/markov/environments/mars_env.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/simulation_ws/src/rl-agent/markov/environments/mars_env.py b/simulation_ws/src/rl-agent/markov/environments/mars_env.py
index 1891868..7eb7d8e 100644
--- a/simulation_ws/src/rl-agent/markov/environments/mars_env.py
+++ b/simulation_ws/src/rl-agent/markov/environments/mars_env.py
@@ -478,9 +478,9 @@ def reward_function(self):
             
 
             # No Episode ending events - continue to calculate reward - general waypoints not helpful
-           """ # smooth reward with no waypoints
+            # smooth reward with no waypoints
             multiplier = 1 - (self.current_distance_to_checkpoint/INITIAL_DISTANCE_TO_CHECKPOINT)**4
-            """
+            
             """
             progress = INITIAL_DISTANCE_TO_CHECKPOINT / self.current_distance_to_checkpoint