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Predictive Control API #48

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alberthli
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@alberthli alberthli commented Dec 7, 2023 •
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Establishes a very generic Controller API as well as predictive controllers + simulators for evaluating non-RL control-related simulations.

TODO:

  • offline sim + mp4 renderer for media (look at code snippet from amy)

Some design questions:

  • should we always pass out a params object (always assume there may be generic cached values)?

@alberthli
created simple control API and predictive control API
bf1ae58
@alberthli
rename some parameter variable names for clarity
b8041ea
@alberthli
spacing
958a7e7
@alberthli
minor
d8d27fb
@alberthli
[DIRTY] commit for vince to try to repro flaky segfault
eaaff7d
@alberthli
[DIRTY] extremely dirty commit with us messing around for vince to re…
26aae8a 
…plicate c++ version
@alberthli
[DIRTY] stable predictive sampling for regulating to q_goal
e382bb6
@alberthli
reorganize examples
0da8ce2
@alberthli
simplify a function in predictive_control
d3c2b7c
@alberthli
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into predict…
a93edaa 
…ive-control-api
@alberthli
save .stl files also in package
ccb7875
@alberthli
add PD predictive sampler
26bbaea
@alberthli
added working example of PD predictive sampling
269c1c9
@alberthli
minor bugfix for PD predictive sampler
55c9839
@alberthli
added cube to models
9ce7938
@alberthli
added crappy broken palm up script
230023f
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