asbroad / koopman_operator_model_learning Goto Github PK

Hi, I was trying to implement the Koopman operator after reading the corresponding paper but came to encounter some issues.

First, I followed every step in the instruction: creating a ROS workspace, downloading the repositories (Koopman Operator and modified Gym), compiling the scripts, and running the launch files. Then I got errors popped up showing everything of the Gym was missing.
After that, I tried installing the original Gym first, did the same things above, and got this error log.

    from Box2D.b2 import (edgeShape, circleShape, fixtureDef, polygonShape, revoluteJointDef, contactListener)
ImportError: No module named b2
Shutting down
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/core.py", line 466, in signal_shutdown
    h()
  File "/home/ray/ros_ws/src/koopman_operator_model_learning/scripts/collect_observations.py", line 157, in shutdown_hook
    self.history = np.zeros((17, self.total_steps))
AttributeError: LunarLander instance has no attribute 'total_steps'

I checked the Python library and found that only Python 3.5 has the b2 module in Box2D, but Python 2.7 doesn't have. However, I am using ROS Kinetic, whose default python version is 2.7.

Appreciate it.