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RL_EXPERIMENT.md

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HOW TO experiments

Here is a (work in progress) list of step-by-step info to perform RL experiments. With little effort, this workflow can be applied to Model-based controllers and experiments.

  • log into the robot and launch the interface

  • Launch the controllers with

     ros2 launch locomotion_experiments controller_start.launch.py

  • Getup. This works from any configuration, it takes always 5 seconds. You HAVE TO terminate the node with CTRL-C once the 'index' max out to 700

    ros2 run locomotion_experiments getup

  • Launch the experiment. Look up at the launch arguments an the explanations in the readme. Here is an example with the cmd_vel_node

    ros2 launch locomotion_experiments experiment.launch.py exp:='experiment_number_1' vel:='0.8' duration:='3.0' csv:='Data.csv'

  • Once the experiment is finished, the policy WILL BE STILL ACTIVE you have to turn it off with CTRL-C in the terminal of the launch above.

  • You can now run the getup node again, the robot will slowly go back in the default position.

  • Take a look at the temperatures before going again!

  • To change the reference shape take a look in cmd_vel_node.py

To use Joypad control

Just add use_joy:='True' to the launch command and rqt_robot_steering will be launched, instead of cmd_vel_node ros2 launch locomotion_experiments experiment.launch.py exp:='experiment_number_1' use_joy:='True' csv:='Data.csv'