Repository to transfer policy on real A1 robot.

Installation

Laptop packages

Packages contained in prerequisites.txt. Recommended to use conda env.

pip install prerequisites.txt

virtualenv and conda conflicts

If conda is initialized by default when the shell opens, and if you use virtualenv deactivate the (base) environment: run conda deactivate until you go out of the conda base environment.

Launch code on the robot

Usage: To use Ethernet connection:

1. Launch remote server on the laptop.

• Launch the Pyro name server on the laptop.

python -m Pyro5.nameserver -n 192.168.123.24

• Launch the Inference Serve on the laptop for remote inference. Located in the remote folder.

python3 remote/inferenceServer.py

2. Run code on the robot. Example present in bashfiles/run.sh, Copy paste the laptop server URI, printed in the console when launched when prompted.

Launch code in simulation

Eveything is done on the laptop. Replace the flag --mode with simGui. Launch:

python3 policy_test.py -w ./weights/delay-rand-m72n4bon/mass/185d07w7/full_3200.pt --mode simGui --kp_policy 40.0 --kd_policy 0.5 --nsteps 1000 --time_step 0.001 --run_hdw -fic --fic_policy_dt 0.026 --fic_ll_dt 0.004 -v