Draft: Tobi Dance Branch#48

Draft

frehe wants to merge 116 commits intomasterfrom

Commits on Nov 24, 2022

Starting template for integrating vector of target positions
marcinpaluch1994
committed

Commits on Nov 27, 2022

fixed logging function to be colored cyan for info and to generate pycharm link to source file
tobidelbruck
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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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generate pycharm link in log output.
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 15, 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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added the fist demo dance sequence file
tobidelbruck
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Commits on Dec 28, 2022

got shimmy linear ramp from one freq/amp to another one working
tobidelbruck
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Commits on Dec 30, 2022

added beep to signal change of step.
tobidelbruck
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Commits on Jan 5, 2023

got cart bounce working for MPPI rollouts and added modeling of absorption "cart_bounce_factor"
tobidelbruck
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add docstring for set_status_text method
tobidelbruck
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added comments about edge_bounce
tobidelbruck
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docstrings
tobidelbruck
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doctrings
tobidelbruck
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Commits on Jan 16, 2023

added policy number to dance step policy so that we can branch on it in compiled tensorflow XLA code (which cannot branch on string constants)
tobidelbruck
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Commits on Jan 27, 2023

Commits on Jan 28, 2023

added signal to CartPoleMainWindow that emits signal when simulation state is changed.
tobidelbruck
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Commits on Jan 29, 2023

Commits on Jan 30, 2023

moved the cartpole_dancer.py song and csv to config_cost_functions.yml.
tobidelbruck
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Commits on Feb 1, 2023

only add signal if GUI exists
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

Commits on Feb 7, 2023

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…
tobidelbruck
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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.
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

Commits on Feb 14, 2023

Commits on Feb 15, 2023

Commits on Feb 16, 2023

added 'cartwheel' step to cartpole_trajectory_generator.py.
tobidelbruck
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Commits on Feb 17, 2023

modified cartwheel step to be a state machine with transitions between starting and freefall (during). This trajectory seems to work in simulation
tobidelbruck
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Commits on Feb 18, 2023

Commits on Feb 23, 2023

Commits on Feb 28, 2023

Commits on May 11, 2023

added jtag connection photo.
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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