Draft: Tobi Dance Branch#12

Draft

frehe wants to merge 43 commits intomainfrom

Commits on Nov 24, 2022

Starting template for integrating vector of target positions
marcinpaluch1994
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Commits on Nov 27, 2022

to fix tensorflow JIT compile case insentivity problem, renamed cart mass M to m_cart and cart pole mass m to m_pole
tobidelbruck
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Commits on Nov 28, 2022

docstring for update_parameters
tobidelbruck
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controller_mpc.py now copies all modified controller, cost and optimizer config changes to updated_attributes before executing optimizer.step
tobidelbruck
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rename config_cost_function.yml to config_cost_functions.yml for consistency with other config files.
tobidelbruck
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Commits on Dec 11, 2022

finally the dynamically modifiable control cost parameters are working and the cartpole is at least balancing itself and swinging up from down position. Big changes all over!
tobidelbruck
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Commits on Dec 12, 2022

Commits on Dec 13, 2022

Commits on Dec 14, 2022

Rename num_rollouts -> batch_size in config templates
frehe
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Commits on Dec 18, 2022

Commits on Dec 24, 2022

renamed s to state for clariy in many of the classes.
tobidelbruck
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Commits on Dec 26, 2022

added dancer that reads CSV file to specify sequence of 'steps' (behaviors).
tobidelbruck
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Commits on Jan 28, 2023

fixed import of CompileTF to point to SI_Toolkit
tobidelbruck
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Commits on Jan 31, 2023

Merge remote-tracking branch 'origin/main' into Tobi_Dance
tobidelbruck
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Commits on Feb 3, 2023

merged from Tobi_Dance and added some loggers
tobidelbruck
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Commits on Feb 6, 2023

moved get_logger to own file in SI_Toolkit
tobidelbruck
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Commits on Feb 7, 2023

Commits on Feb 8, 2023

Commits on Feb 10, 2023

cartpole_dancer.py starts to work. Music starts and stops, some steps seem to work. mppi parameters copied from development. cost weights adjusted.
tobidelbruck
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Commits on Feb 11, 2023

improved control slightly by adding back more cost terms to provide some damping. But balancing still not working very well. Cannot follow cart position well. gets into endless repeats of trying to…
tobidelbruck
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Commits on Feb 12, 2023

added some docstrings, but they are not very informative
tobidelbruck
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Commits on Feb 13, 2023

added prediction and target trajectory to logging to allow model mismatch error measurement.
tobidelbruck
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Commits on Feb 14, 2023

add computation of pole natural frequency to p_globals.py.
tobidelbruck
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Commits on Feb 16, 2023

added 'cartwheel' step to cartpole_trajectory_generator.py.
tobidelbruck
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Commits on Feb 19, 2023

Commits on Feb 20, 2023

Commits on Feb 21, 2023

Commits on Feb 22, 2023

fixed get_logger.py that now uses a single logger name to only add the handler once
tobidelbruck
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Commits on Feb 23, 2023

reduced chatter in logging
tobidelbruck
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Commits on Feb 28, 2023

major changes to cartpole_dancer_cost and cartpole_trajectory_generator for compatibilty with RPGD gradient computation.
tobidelbruck
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Commits on May 13, 2023

initial commit of Shreyan's code for energy-based controller for cartpole balancing
tobidelbruck
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