Chapter 11 - Hopper Project - how to even begin

Course Support Using OpenAI With ROS
1

So this Chapter gives no real guidance and help. Are we supposed to figure it out ourselves completely? Are we supposed to use the existing packages in the public_sim_ws? Because I had a look at those, and there are many things that are much different and more complex than anything before in the course.

some examples:

  1. the use of
from controllers_connection import ControllersConnection

instead of using a controllers list

  1. the use of
from joint_publisher import JointPub
from monoped_state import MonopedState

instead of initializing the publishers and subscribers directly in the robot env.

  1. What the hell is ContactsState? A little explanation of the robot and its sensors / topics would be appreciated

  2. THE SKIPPING OF A ROBOT_ENV???
    as far as I can tell, the example in
    /home/simulations/public_sim_ws/src/all/hopper/my_hopper_training
    uses no robot environment altogether. This goes against all that has been taught so far.

2

Its supposed that you have to create all by yourself in this last chapter yep.
But I dont quite see what you say here. Could you indicate a bit more what is the issue? So we are talking about the chapter 11 : Project Training Hopper right?
With the two example scripts is not enough? What would you need to make it more clear?