Draft: Tobi Dance Branch - #12

Draft

frehe wants to merge 43 commits into

mainfrom

Commits on Nov 24, 2022

Starting template for integrating vector of target positions
marcinpaluch1994
committed
68bf537

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
committed
6a6d218

Commits on Nov 28, 2022

docstring for update_parameters
tobidelbruck
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d1d9203
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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cc2b58c
rename config_cost_function.yml to config_cost_functions.yml for consistency with other config files.
tobidelbruck
committed
06c7981

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
committed
068a0ac

Commits on Dec 12, 2022

Commits on Dec 13, 2022

added MPPI papers to docstring
tobidelbruck
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ab0f34e
added MPPI papers to docstring
tobidelbruck
committed
7ad7be1

Commits on Dec 14, 2022

Rename num_rollouts -> batch_size in config templates
frehe
committed
86c8d68

Commits on Dec 18, 2022

add comment
tobidelbruck
committed
3ade5d0
local changes, all minor except for trajectory cost that is in flux
tobidelbruck
committed
56d3e51
Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance
tobidelbruck
committed
9dad3a7

Commits on Dec 24, 2022

renamed s to state for clariy in many of the classes.
tobidelbruck
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67ba599

Commits on Dec 26, 2022

added dancer that reads CSV file to specify sequence of 'steps' (behaviors).
tobidelbruck
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1f324f4

Commits on Jan 28, 2023

fixed import of CompileTF to point to SI_Toolkit
tobidelbruck
committed
0b543a0

Commits on Jan 31, 2023

Merge remote-tracking branch 'origin/main' into Tobi_Dance
tobidelbruck
committed
8fe2a96

Commits on Feb 3, 2023

merged from Tobi_Dance and added some loggers
tobidelbruck
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c0ee620

Commits on Feb 6, 2023

moved get_logger to own file in SI_Toolkit
tobidelbruck
committed
ee9ca38

Commits on Feb 7, 2023

Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance
tobidelbruck
committed
ecf2cc8
added search path for running from physical-cartpole.
tobidelbruck
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69b886c
update path to config_cost_functions.yml
tobidelbruck
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4ce131e

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
committed
f0ec1d1

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
committed
5d13e63

Commits on Feb 12, 2023

added some docstrings, but they are not very informative
tobidelbruck
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e2162fd

Commits on Feb 13, 2023

added prediction and target trajectory to logging to allow model mismatch error measurement.
tobidelbruck
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518a00f

Commits on Feb 14, 2023

add computation of pole natural frequency to p_globals.py.
tobidelbruck
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9190c2a

Commits on Feb 16, 2023

added 'cartwheel' step to cartpole_trajectory_generator.py.
tobidelbruck
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6b8a676

Commits on Feb 19, 2023

added warning for cart calibration.
tobidelbruck
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039d385
fixed some logic and reduced some loggers to debug level
tobidelbruck
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ed2c118

Commits on Feb 20, 2023

fixed shimmy math.
tobidelbruck
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a16b454
Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance
tobidelbruck
committed
000ff67

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
committed
e894dfc

Commits on Feb 23, 2023

reduced chatter in logging
tobidelbruck
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3489a44

Commits on Feb 28, 2023

major changes to cartpole_dancer_cost and cartpole_trajectory_generator for compatibilty with RPGD gradient computation.
tobidelbruck
committed
a1a36db

Commits on May 13, 2023

initial commit of Shreyan's code for energy-based controller for cartpole balancing
tobidelbruck
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807c46d