Framework/bitbots rl motion#788
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I removed test.launch and rl_walk.launch in bitbots_rl_motion, they don't fit anymore. Maybe the new launch file rl_motion.launch has to be adapted. |
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How do we want to progress with this? This is currently targeting @sWintermoor You keep using Wolfgang for your thesis, right? |
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This architecture is reusable for Pi+. We would just add a config file. No, I don't use any Wolfgang. |
| self.blackboard.kick.start_rl_kick() | ||
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| elapsed = self.blackboard.node.get_clock().now() - self._start_time | ||
| if elapsed >= Duration(seconds=self._duration): |
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How / why is it guaranteed that after this duration, the kick is actually finished?
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there is no guarantee, I just assumed it. I don't have an ad-hoc solution for measuring whether a kick is completed
| type: double | ||
| description: "End pose trunk height. Depends on walkready of walking." | ||
| default_value: 0.38 | ||
| default_value: 0.372 |
sWintermoor
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Are we sure this is compatible with the piplus right now? |
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Summary
This change provides a framework for rl policies. Main purpose is to minimize boiler plate code and facilitate the integration of rl models.
Proposed changes
Related issues
This component has to be tested on a robot.
Checklist
pixi run build