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Merge pull request #148 from utiasDSL/mpc_examples
Added MPC and Linear MPC examples
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39 changes: 39 additions & 0 deletions
39
examples/mpc/config_overrides/cartpole/cartpole_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| task_config: | ||
| seed: 42 | ||
| info_in_reset: True | ||
| ctrl_freq: 15 | ||
| pyb_freq: 750 | ||
| physics: pyb | ||
|
|
||
| init_state_randomization_info: | ||
| init_x: | ||
| distrib: 'uniform' | ||
| low: -2 | ||
| high: 2 | ||
| init_x_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| init_theta: | ||
| distrib: 'uniform' | ||
| low: -0.2 | ||
| high: 0.2 | ||
| init_theta_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
|
|
||
| task: stabilization | ||
| task_info: | ||
| stabilization_goal: [1.0, 0.0] | ||
| stabilization_goal_tolerance: 0.0 | ||
|
|
||
| episode_len_sec: 6 | ||
| cost: quadratic | ||
| done_on_out_of_bound: True | ||
|
|
||
| constraints: | ||
| - constraint_form: default_constraint | ||
| constrained_variable: input | ||
| - constraint_form: default_constraint | ||
| constrained_variable: state |
42 changes: 42 additions & 0 deletions
42
examples/mpc/config_overrides/cartpole/cartpole_tracking.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| task_config: | ||
| seed: 42 | ||
| info_in_reset: True | ||
| ctrl_freq: 15 | ||
| pyb_freq: 750 | ||
| physics: pyb | ||
|
|
||
| init_state_randomization_info: | ||
| init_x: | ||
| distrib: 'uniform' | ||
| low: -1 | ||
| high: 1 | ||
| init_x_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| init_theta: | ||
| distrib: 'uniform' | ||
| low: -0.2 | ||
| high: 0.2 | ||
| init_theta_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
|
|
||
| task: traj_tracking | ||
| task_info: | ||
| trajectory_type: 'circle' | ||
| num_cycles: 2 | ||
| trajectory_plane: 'zx' | ||
| trajectory_position_offset: [0, 0] | ||
| trajectory_scale: 1 | ||
|
|
||
| episode_len_sec: 6 | ||
| cost: quadratic | ||
| done_on_out_of_bound: True | ||
|
|
||
| constraints: | ||
| - constraint_form: default_constraint | ||
| constrained_variable: input | ||
| - constraint_form: default_constraint | ||
| constrained_variable: state |
17 changes: 17 additions & 0 deletions
17
examples/mpc/config_overrides/cartpole/linear_mpc_cartpole_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| algo: linear_mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: qrqp |
17 changes: 17 additions & 0 deletions
17
examples/mpc/config_overrides/cartpole/linear_mpc_cartpole_tracking.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| algo: linear_mpc | ||
| algo_config: | ||
| horizon: 40 | ||
| r_mpc: | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: qrqp |
17 changes: 17 additions & 0 deletions
17
examples/mpc/config_overrides/cartpole/mpc_cartpole_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| algo: mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: ipopt |
17 changes: 17 additions & 0 deletions
17
examples/mpc/config_overrides/cartpole/mpc_cartpole_tracking.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| algo: mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: ipopt |
20 changes: 20 additions & 0 deletions
20
examples/mpc/config_overrides/quadrotor_2D/linear_mpc_quadrotor_2D_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| algo: linear_mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: qrqp |
20 changes: 20 additions & 0 deletions
20
examples/mpc/config_overrides/quadrotor_2D/linear_mpc_quadrotor_2D_tracking.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| algo: linear_mpc | ||
| algo_config: | ||
| horizon: 40 | ||
| r_mpc: | ||
| - 0.1 | ||
| - 0.1 | ||
| q_mpc: | ||
| - 1.0 | ||
| - 0.1 | ||
| - 1.0 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: qrqp |
20 changes: 20 additions & 0 deletions
20
examples/mpc/config_overrides/quadrotor_2D/mpc_quadrotor_2D_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| algo: mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: ipopt |
20 changes: 20 additions & 0 deletions
20
examples/mpc/config_overrides/quadrotor_2D/mpc_quadrotor_2D_tracking.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| algo: mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: ipopt |
51 changes: 51 additions & 0 deletions
51
examples/mpc/config_overrides/quadrotor_2D/quadrotor_2D_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| task_config: | ||
| seed: 1337 | ||
| info_in_reset: True | ||
| ctrl_freq: 50 | ||
| pyb_freq: 1000 | ||
| gui: False | ||
| physics: pyb | ||
| quad_type: 2 | ||
|
|
||
| init_state_randomization_info: | ||
| init_x: | ||
| distrib: 'uniform' | ||
| low: -1 | ||
| high: 1 | ||
| init_x_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| init_z: | ||
| distrib: 'uniform' | ||
| low: 0.5 | ||
| high: 1.5 | ||
| init_z_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| init_theta: | ||
| distrib: 'uniform' | ||
| low: -0.2 | ||
| high: 0.2 | ||
| init_theta_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| randomized_init: True | ||
| randomized_inertial_prop: False | ||
|
|
||
| task: stabilization | ||
| task_info: | ||
| stabilization_goal: [0, 1] | ||
| stabilization_goal_tolerance: 0.0 | ||
|
|
||
| episode_len_sec: 6 | ||
| cost: quadratic | ||
| done_on_out_of_bound: True | ||
|
|
||
| constraints: | ||
| - constraint_form: default_constraint | ||
| constrained_variable: input | ||
| - constraint_form: default_constraint | ||
| constrained_variable: state |
54 changes: 54 additions & 0 deletions
54
examples/mpc/config_overrides/quadrotor_2D/quadrotor_2D_tracking.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| task_config: | ||
| seed: 1337 | ||
| info_in_reset: True | ||
| ctrl_freq: 50 | ||
| pyb_freq: 1000 | ||
| gui: False | ||
| physics: pyb | ||
| quad_type: 2 | ||
|
|
||
| init_state_randomization_info: | ||
| init_x: | ||
| distrib: 'uniform' | ||
| low: -1 | ||
| high: 1 | ||
| init_x_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| init_z: | ||
| distrib: 'uniform' | ||
| low: 0.5 | ||
| high: 1.5 | ||
| init_z_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| init_theta: | ||
| distrib: 'uniform' | ||
| low: -0.2 | ||
| high: 0.2 | ||
| init_theta_dot: | ||
| distrib: 'uniform' | ||
| low: -0.1 | ||
| high: 0.1 | ||
| randomized_init: True | ||
| randomized_inertial_prop: False | ||
|
|
||
| task: traj_tracking | ||
| task_info: | ||
| trajectory_type: figure8 | ||
| num_cycles: 1 | ||
| trajectory_plane: 'xz' | ||
| trajectory_position_offset: [0, 1] | ||
| trajectory_scale: 0.75 | ||
|
|
||
| episode_len_sec: 6 | ||
| cost: quadratic | ||
| done_on_out_of_bound: True | ||
|
|
||
| constraints: | ||
| - constraint_form: default_constraint | ||
| constrained_variable: input | ||
| - constraint_form: default_constraint | ||
| constrained_variable: state |
28 changes: 28 additions & 0 deletions
28
examples/mpc/config_overrides/quadrotor_3D/linear_mpc_quadrotor_3D_stabilization.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| algo: linear_mpc | ||
| algo_config: | ||
| horizon: 20 | ||
| r_mpc: | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| q_mpc: | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| - 5.0 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| - 0.1 | ||
| # Prior info | ||
| prior_info: | ||
| prior_prop: null | ||
| randomize_prior_prop: False | ||
| prior_prop_rand_info: null | ||
| warmstart: True | ||
| solver: qrqp |
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