Merge pull request #74 from UoA-CARES/add-2nd-car

Add sanity_check yaml file

src/reinforcement_learning/config/sanity_check.yaml

@@ -0,0 +1,18 @@
+sanity_check:
+  ros__parameters:
+    environment: 'CarTrack' # CarGoal, CarWall, CarBlock, CarTrack
+    track: 'track_1' # track_1, track_2, track_3 -> only applies for CarTrack
+    max_steps_exploration: 5000
+    max_steps_training: 1000000
+    reward_range: 1.0
+    collision_range: 0.2
+    # gamma: 0.95
+    # tau: 0.005
+    # g: 5
+    # batch_size: 32
+    # buffer_size: 1000000
+    # actor_lr: 0.0001
+    # critic_lr: 0.001
+    # max_steps: 10
+    # step_length: 0.25
+    # seed: 123

src/reinforcement_learning/launch/sanity_check.launch.py

@@ -21,17 +21,17 @@ def generate_launch_description():
 
     config_path = os.path.join(
         get_package_share_directory('reinforcement_learning'),
-        'train.yaml'
+        'sanity_check.yaml'
     )
 
     config = yaml.load(open(config_path), Loader=yaml.Loader)
-    env = config['train']['ros__parameters']['environment']
+    env = config['sanity_check']['ros__parameters']['environment']
 
     environment =  IncludeLaunchDescription(
         launch_description_source=PythonLaunchDescriptionSource(
             os.path.join(pkg_environments, f'{env_launch[env]}.launch.py')),
         launch_arguments={
-            'track': TextSubstitution(text=str(config['train']['ros__parameters']['track'])),
+            'track': TextSubstitution(text=str(config['sanity_check']['ros__parameters']['track'])),
         }.items() #TODO: this doesn't do anything
     )
 

src/reinforcement_learning/reinforcement_learning/sanity_check.py

@@ -110,7 +110,7 @@
 ACTION_NUM = 2
 
 DEVICE = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
-TRAINING_NAME = 'sanity-' + datetime.now().strftime("%d-%m-%Y-%H:%M:%S")
+TRAINING_NAME = 'sanity_check-' + datetime.now().strftime("%d-%m-%Y-%H:%M:%S")
 
 # For controlling the car
 linear_vel = 0