cartpole_physical_parameters.yml

cartpole:
  actuator_noise: 0.1  #Only for lqr and old mppi, for new MPC use controlDisturbance instead. Noise on top of the calculated control input by +/- this value, we usually set 0.5 to explore various controllers while collecting data for training, 0.1 to test an not-ideal case
  mode: stabilization
  seed:  # This is a seed for rng for CartPole instance class only. If null random seed based on datetime is used
  PATH_TO_EXPERIMENT_RECORDINGS_DEFAULT: './Experiment_Recordings/'   # Where to save experiment recording per default
  m_cart: 0.230  # mass of cart, kg # Checked by Antonio
  u_max: 1.77  # max force produced by the motor, N # Checked by Marcin
  M_fric: 3.22  # cart friction on track, N/m/s # Checked by Marcin
  J_fric: 5.0e-5  # friction coefficient on angular velocity in pole joint, Nm/rad/s # Checked by Marcin
  v_max: 0.8  # max DC motor speed, m/s, in absense of friction, used for motor back EMF model # TODO: not implemented in model, but needed for MPC
  cart_length: 4.4e-2  # m, checked by Marcin&Asude
  track_length: 44.0e-2  # m, checked by Marcin&Asude, Total track length, usable track length is track_length-cart_length
  controlDisturbance_mode: "additive"  # 'truncnorm' (with mu=Q+controlBias and scale controlDisturbance, trunc -1,1), 'additive' (old, Q+controlDisturbance*std_normal+controlBias), 'OFF'
  controlDisturbance: 0.5  # disturbance, as factor of u_max # I used 0.2-0.5 for data collection
  controlBias: 0.0  # bias of control input
  g: 9.81  # absolute value of gravity acceleration, m/s^2
  k: "1.0/3.0"  # Dimensionless factor of moment of inertia of the pole with length 2L: I: (1/3)*m*(L)^2 = (4/3)*m*(L/2)^2
  latency: 0.0 # s
  noise:
    noise_mode: 'OFF'
    sigma_angle: 0.0  # As measured by Asude
    sigma_position: 0.0005
    sigma_angleD: 0.075 # This is much smaller than would result from sigma_angle under assumption of iir filter+derviative calculation; the theoretical value would be 2.28
    sigma_positionD: 0.005
  vertical_angle_offset:
    init_value: 0.0  # deg, number or 'random'
    change_every_x_seconds: # If left empty angle shift changed at each simulation step, otherwise time in seconds, or 'inf' for no change
    mode: 'constant'  # 'constant', 'random_walk', 'increase', 'random'
    range_random: [-3.141592, 3.141592]  # Range from which to uniformly sample, in radians
    range_clip:   # range at which to clip, leave empty for no clipping
    increment: 0.02
    reset_every_x_seconds: 18  # seconds, or 'inf' for no change
  L:
    init_value: 0.395  # length of pend, m
    change_every_x_seconds: 7 # If left empty angle shift changed at each simulation step, otherwise time in seconds, or 'inf' for no change
    mode: 'constant'  # 'constant', 'random_walk', 'increase', 'random'
    range_random: [0.25, 0.55]  # Range from which to uniformly sample or at which to clip, leave empty for no clipping
    range_clip: [0.25, 0.55]  # range at which to clip, leave empty for no clipping
    increment: 0.002
    reset_every_x_seconds: 'inf'  # seconds, or 'inf' for no change
  m_pole:
    init_value: 0.087      # length of pend, m
    change_every_x_seconds: 2 # If left empty angle shift changed at each simulation step, otherwise time in seconds, or 'inf' for no change
    mode: 'constant'  # 'constant', 'random_walk', 'increase', 'random'
    range_random: [ 0.015, 0.15]  # Range from which to uniformly sample or at which to clip, leave empty for no clipping
    range_clip: [ 0.015, 0.15 ]  # range at which to clip, leave empty for no clipping
    increment: 0.002
    reset_every_x_seconds: 'inf'  # seconds, or 'inf' for no change

  inform_controller_about_parameters_change:
    mode: 'switching_regular'  # 'OFF', 'ON', 'switching_random', 'switching_regular'
    change_to_on_after_x_seconds_off: 1.5  # seconds, if mode switching_random this is the upper bound
    change_to_off_after_x_seconds_on: 4  # seconds, if mode switching_random this is the upper bound
  num_control_inputs: 1