System id from data logs then sim2real

[Armandpl]

Current idea:

• Record data from the robot (state 1 + action -> state 2)
• Optimize the pendulum model use torch (requires it to be differentiable).

Could do it using sim data, trying to find back the sim params to validate the idea.

[Armandpl]

• try different optimizers

[Armandpl]

• viz model output on top of recorded data
  • e.g the model input is U, output is angle accelerations: overlay the two for one episode for debug purposes
• might be enough to send a square signal to the motor?