notes.txt

Parameters for running:
config file for policy
config file for roach
(let's assume both were trained in the gcg framework...we'll need to do conversion when training a real model)
num_rollouts
itr

Additional params to be passed in:
policy frequency
roach frequency



things i'll need to customize:
sampler: needs a callback function for roach and camera data streams
write a different sampler for each



....... import:
replay_pool 
logger


Things to think about:
resolving file references (to gcg-private --> put ros wkspce inside gcg repo?
)


Overall:
x make ingester 

	ingester will save data
	will have callback functions
	will feed/provide data to get_action method

make ingester saving capabilities

import everything correctly; otherwise, move ros wkspce

write a "highest-level" script

write a manual collision signal input thing
allow time for reset after collision? basically, in "reset period" until click another button