Updated PD Controller and included example Policy 17717 Iterations#15
Updated PD Controller and included example Policy 17717 Iterations#15haloted wants to merge 5 commits into
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| torque_B += fbtorque_B; /// sum of torque inputs | ||
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| force_B(2) += mass_ * 9.81; /// Sum of thrust inputs |
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why do you add gravity? this should be done by raisim
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oh, the original implementation has this as action scaling. Since we already have it in a different place, you don't need it
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| torque_B += fbtorque_B; /// sum of torque inputs | ||
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| force_B(2) += mass_ * 9.81; /// Sum of thrust inputs |
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oh, the original implementation has this as action scaling. Since we already have it in a different place, you don't need it
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Jemin this code needs to be debugged before you approve of the merge. Please check if it works well before merging. |
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This is the policy run for 14256 iterations. |
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It only seems to be slightly better at 11000 iterations. Is there a way to rotate the camera angle to see if it actually is just below the red dot? There seems to be some translational error but it's hard to see if the camera angle cannot be panned or rotated. |
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I had a look at my code again as I found there are errors in compiling now. I wasn't sure why there weren't errors previously. I found that rot_ as defined is a raisim object class. |
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This updates the Environmental.hpp with PD controller. The policy is trained overnight and it greatly reduced the tracking error in the vertical axis.
I found the cause of the vertical tracking error could be due to the original code not including the mass of the quadrotor as sum to the Z-axis force vector.
Though there is still a little bit of horizontal translation error. If you have time, please suggest improvement and feedback to how to better optimise this.
Not sure whether it's to do with learning rate, a learning rate decay could be implemented later to see if it would help reduce the tracking error.
About the quadrotor_position_tracking.py, if it is merged please delete the code you don't need such as action2thrust function. I know there is the git cherry pick function but I have other priorities than learning how to use it.