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Draft: Tobi Dance Branch#12

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frehe wants to merge 43 commits intomainSensorsINI/Control_Toolkit:mainfrom Tobi_DanceSensorsINI/Control_Toolkit:Tobi_DanceCopy head branch name to clipboard

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Commits on Nov 24, 2022

• Starting template for integrating vector of target positions

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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

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Commits on Nov 28, 2022

• docstring for update_parameters

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• controller_mpc.py now copies all modified controller, cost and optimizer config changes to updated_attributes before executing optimizer.step

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• rename config_cost_function.yml to config_cost_functions.yml for consistency with other config files.

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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!

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Commits on Dec 12, 2022

• now spin and balance both work! and so does changing the policy and changing the cost weights during runtime! Yay, finally!

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• got basic shimmy movement to work now. added helper vars to access config values in cartpole_trajectory_generator.py.

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• added cartonly trajectory and fixed bug that erased the target position and equilibrium from updated attributes before they were updated in controller

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• passing current state to cartpole_trajectory_generator.py so it can extrapolate it, and added option for using terminal cost or entire trajectory cost in cartpole_trajectory_cost.py.

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Commits on Dec 13, 2022

• added MPPI papers to docstring

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• added MPPI papers to docstring

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Commits on Dec 14, 2022

• Rename num_rollouts -> batch_size in config templates

  frehe

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Commits on Dec 18, 2022

• add comment

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• local changes, all minor except for trajectory cost that is in flux

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• Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance

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Commits on Dec 24, 2022

• renamed s to state for clariy in many of the classes.

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Commits on Dec 26, 2022

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

  

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Commits on Jan 28, 2023

• fixed import of CompileTF to point to SI_Toolkit

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Commits on Jan 31, 2023

• Merge remote-tracking branch 'origin/main' into Tobi_Dance

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Commits on Feb 3, 2023

• merged from Tobi_Dance and added some loggers

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Commits on Feb 6, 2023

• moved get_logger to own file in SI_Toolkit

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Commits on Feb 7, 2023

• Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance

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• added search path for running from physical-cartpole.

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• update path to config_cost_functions.yml

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Commits on Feb 8, 2023

• move get_logger.py to Control_Toolkit so that it can be used by physical-cartpole repo. Fix some cartpole parameter import. Fix rename of config_cost_functions.yml. Add timer.py and yes_or_no.py ut…

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• Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance

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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.

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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…

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Commits on Feb 12, 2023

• added some docstrings, but they are not very informative

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Commits on Feb 13, 2023

• added prediction and target trajectory to logging to allow model mismatch error measurement.

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Commits on Feb 14, 2023

• add computation of pole natural frequency to p_globals.py.

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Commits on Feb 16, 2023

• added 'cartwheel' step to cartpole_trajectory_generator.py.

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Commits on Feb 19, 2023

• added warning for cart calibration.

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• fixed some logic and reduced some loggers to debug level

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Commits on Feb 20, 2023

• fixed shimmy math.

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• Merge remote-tracking branch 'origin/Tobi_Dance' into Tobi_Dance

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Commits on Feb 21, 2023

• improved console reporting of current objective and logging output so that it is shown in live console display instead of scrolling away.

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• improved logging output to make debug logger light gray, include filename in console logger for logging during control

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Commits on Feb 22, 2023

• fixed get_logger.py that now uses a single logger name to only add the handler once

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Commits on Feb 23, 2023

• reduced chatter in logging

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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.

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Commits on May 13, 2023

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

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