Restructuring Ideas

[JonasFrey96]

Objective:

• Simplify code
• Clearer interfaces and responsibilities of components
• Support other geometric primitives for reprojection e.g. individual footholds
• Support more supervision signals - e.g: binary, velocity tracking, locomotion reward, physical properties
• Support for supervision on images (current), top-down view maps

Main - Sugggestion:

• Splitting the learning node into a supervision signal node and a learning node
• Learning node keeps the two graphs but now for the proprioceptive graph we directly replace it with a geometry primitivas graph - messages are sent to the learning node containing geometries and multiple supervision signals extracted by the supervision signal node - this can be interpreted as adding more responsibility to the ANYmal Converter Node.
• Providing a clearer interface of how to implement different neural networks
• Reworking the configuration such that all ros configurations are also part of the ExperimentParam

To be discussed - If we implement it like this everything strongly depends on ros which is also not so desirable for all the message passing - is there a way to joing the best of both worlds :/