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utiasDSL / safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
https://www.dynsyslab.org/safe-robot-learning/
MIT License
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a minor BUG in the PID controller #128

Closed TakatoOvO closed 1 year ago

TakatoOvO commented 1 year ago

I would like to express my gratitude to you and your team for providing such a practical suite!

While reviewing the code in pid.py, I have encountered a possible minor issue. Should the variable 'cur_ang_vel' in line 100 be assigned as 'cur_ang_vel=np.array([0, obs[5], 0])' rather than the current assignment of 'np.array([0, obs[4], 0])'?

Could you please check if any modification is necessary?

Also, I was wondering if there are any plans to further improve the CBF controller, which currently seems to only apply to the cartpole system.

I am eagerly looking forward to your future work!

Federico-PizarroBejarano commented 1 year ago

@Takato20 concerning the CBF, we do have some ideas about extending it but we have no hard plans currently. There is a PR for a CBF that uses learning (https://github.com/utiasDSL/safe-control-gym/pull/49 implementing this paper: https://arxiv.org/abs/2204.03801), but I believe it also only applies to the cartpole

TakatoOvO commented 1 year ago

Thank you for your reply ,and look forward to your future work!