made target position slider window less tall.
added hint to turn off TF JIT for getting going

…ce last read.

added docstring for my_logger

…charm link to source file

…mass M to m_cart and cart pole mass m to m_pole

added comments about meaning of "stage" in MPPI
renamed TargetPositionGenerator to TargetTrajectoryGenerator, since we target a complete trajectory, not just cart position.
renamed my_logger() to get_logger()

say which compiler we are using

…yaml values

add check for existing terminate_experiment field

add docstring

…istency with other config files.

added more docstrings for undocumented methods and constructors.
added updated_attributes to barebones controller.
improved formatting of logging output
added dictdiffer to requirements.txt
renamed target_position cost function to cartpole_trajectory_cost.py.
replaced some load_config with the load_or_reload_config_if_modified, so that the configs are cached for change checking.
added logger to Compile.py

…g and the cartpole is at least balancing itself and swinging up from down position. Big changes all over!

Now anytime any of the config files is modified during runtime, the using class has its tf.variable assigned the new value.
To get this work, the variable MUST NOT EXIST before it is set this way the first time. Otherwise the compiler just uses the field at compile time and the changes are never seen inside.
The cartpole window now does not reset the initial position and angle sliders on each start.

…hanging the cost weights during runtime! Yay, finally!

Trick was to make sure that all values are actually propagated to tf variables, e.g. numpy arrays, ints, string, not just float

Changed logging format to start with level for better readability.
added string type to computation_library.py

…nfig values in cartpole_trajectory_generator.py.

added dt to params in cartpole_trajectory_generator.step() call.

…on and equilibrium from updated attributes before they were updated in controller

…ribute is already a float.

…xtrapolate it, and added option for using terminal cost or entire trajectory cost in cartpole_trajectory_cost.py.

added more params to config_cost_functions.yml.
fiddled with logging colors.
changed yaml loader to one that can deal with scientific format numbers (ruamel.yaml)

# Conflicts:
#	Control_Toolkit
#	SI_Toolkit

added prefs to cartpole gui for initial position and angle
increased num_rollouts to 1000, decreased horizon to 25 time steps, changed cost function for spin to pure cart angle speed. Now spin, balance, and shimmy all work quite well.
moved cartpole_trajectory_generator back out outside compiled TF code for ease of development and debugging, it is cheap so this is OK.
added more logging of what gets compiled.
added time to arguments for the base controller so that contained methods can access current time.
added ruamel.yaml to requirements (this is the yaml parser that can handle scientific notation numbers)

…viors).

fixed shimmy amplitude.
added status bar at top of CartPole main window to show current step

…ption "cart_bounce_factor"

needs commenting still.
added status line to top of GUI window to show current 'step' of dance, i.e. the target of current control.

…in compiled tensorflow XLA code (which cannot branch on string constants)

fixed physics of cart pole potential and kinetic energy to put in mass  and length and correct constants
renamed cartpole cost function to cartpole_dancer_cost.py
enhanced the load_or_reload_config_if_modified function to set a policy_number variable if the property name ends in an int

…n very carefully to only consider costs depending on energy state of pole.

The dancer step policies now have an integer label that is used by the TF/XLA cost function to branch cost computations, same for spin direction +1/-1.

… yet

…state is changed.

This signal is used by cartpole_dancer.py to respond to button start/stop/pause in main GUI

… (for now, until we can fix the Adam get_weights removal and replacement by get_config())

added playback rate for song to match simulation that is slower than real time.

added rolling stones "satisfaction" song.
added dynamic rate changes for song to match real time of song to simulation time.
support long strings with / in them for update_attributes function so that these strings are set in tf.Variable correctly.

added rolling stones "satisfaction" song.
added dynamic rate changes for song to match real time of song to simulation time.
support long strings with / in them for update_attributes function so that these strings are set in tf.Variable correctly.

# Conflicts:
#	Control_Toolkit
#	Control_Toolkit_ASF/config_optimizers.yml
#	GUI/_CartPoleGUI_MainWindow.py
#	SI_Toolkit

…produces choppy playback

# Conflicts:
#	Control_Toolkit_ASF_Template/Cost_Functions/EnvironmentName/cost_function_barebone.py
#	Control_Toolkit_ASF_Template/config_optimizers.yml
#	Controllers/__init__.py
#	Controllers/controller_neural_imitator_tf.py
#	Cost_Functions/__init__.py
#	Cost_Functions/cost_function_wrapper.py
#	Optimizers/optimizer_mppi.py
#	Optimizers/optimizer_rpgd_me_tf.py
#	Optimizers/optimizer_rpgd_ml_tf.py
#	Optimizers/optimizer_rpgd_particle_tf.py
#	Optimizers/optimizer_rpgd_tf.py
#	requirements.txt

…Tobi_Dance

# Conflicts:
#	Control_Toolkit_ASF_Template/Cost_Functions/EnvironmentName/cost_function_barebone.py
#	Control_Toolkit_ASF_Template/config_optimizers.yml
#	Controllers/__init__.py
#	Controllers/controller_neural_imitator_tf.py
#	Cost_Functions/__init__.py
#	Cost_Functions/cost_function_wrapper.py
#	Optimizers/optimizer_mppi.py
#	Optimizers/optimizer_rpgd_me_tf.py
#	Optimizers/optimizer_rpgd_ml_tf.py
#	Optimizers/optimizer_rpgd_particle_tf.py
#	Optimizers/optimizer_rpgd_tf.py
#	requirements.txt

# Conflicts:
#	CartPole/__init__.py
#	CartPole/cartpole_model.py
#	CartPole/cartpole_model_tf.py
#	CartPole/cartpole_tf.py
#	Control_Toolkit
#	GUI/_CartPoleGUI_MainWindow.py
#	config.yml
#	others/p_globals.py

Started merging from remote/origin/Tobi_Dance

Started merging from remote/origin/Tobi_Dance

fixed logger->log renaming

…cal-cartpole repo. Fix some cartpole parameter import. Fix rename of config_cost_functions.yml. Add timer.py and yes_or_no.py utility classes.

… seem to work. mppi parameters copied from development. cost weights adjusted.

controller update interval inccreased to 25ms from 20ms to match simulator and actual achieved rate with dancer mppi.
mppi rollouts reduced to 700 to speed up control.
PhysicalCartPoleDriver.py has class self variable for reference from other classes to the instance.
Compile.py raises exception when either option is undefined.

…ome damping. But balancing still not working very well. Cannot follow cart position well. gets into endless repeats of trying to swing up.

Fixed increment and dec of target position.
Reduced control period back to 20ms from 25ms.
added a controller reset to controller_mpc.py that stops the dance song.
added a return to center function in PhysicalCartPoleDriver.py with key "C"

setting up to measure model mismatch in controller_mpc.py, not implemented yet.

… for next timestep and recording this prediction along with the measurement in the PhysicalCartPoleDriver.py CSV output file. In this commit, control is enabled by default because the pycharm debugger hangs on interactive terminal keyboard intput, and the motor output is disabled for remote debugging.

…atch error measurement.

updated jupyter script to use filedialog to select csv.
reverted the mysterious lowpass filter in the cart target position so that the position is changed instantaneously.
added partially working M key command to cartpole_trajectory_generator.py to allow switching dance step from keyboard.
added keyboard_input() and print_keyboard_help() to template_controller and implemented it in controller_mpc.py and cartpole_trajectory_generator.py.
added easygui to requirements.txt.
added warning to __init__.py in SI_Toolkit to warn about slow tensorflow eager mode.
moved is_physical_cartpole_runnning_and_control_enabled to CartPole.__init__.

…not really working so well however for spin

updated p_globals.py to include natural period of oscillation of rod

…e aliexpress cartpole

remove terminal cost in cartpole_dancer_cost.py to move track edge barrier cost inside stage costs function where it is easier to manage.
comment out terminal cost computation in Control_Toolkit - note this will break cost functions that use it.

…n and changing behavior depending on starting actual initial state of pole energy. Seems to work well in simulation.

…n cost really seems to be working.

…e towards center of shimmy.

changed cartpole_dancer_cost.py to put spin condition first in if statement, to allow other special cost functions to be added more easily.

… Pao. Thanks Pao!

…point towards the center of shimmy

…ulation now.

commented out some noisy log.debug.
made horizon same as physical cartpole

…n starting and freefall (during). This trajectory seems to work in simulation

…tion

corrected math of computation of cartpole pole kinetic energy (was incorrect by factor of 2)
added check to CartPoleGUI_MainWindow to check that status text is not None before setting it.
edited mp3s of cartpole_dancer but there should be no change

…tter with physical cartpole

updated satisfaction CSV to use markers from audition and added more cartsheels

# Conflicts:
#	Control_Toolkit
#	Control_Toolkit_ASF/Cost_Functions/CartPole/cartpole_dance-satisfaction.csv

fixed import of CompileTF in optimizer_rpgd_tf.py.
other small code changes and comments