Add a parallelized experience collector using the MPC
This sets us up to collect experience from the MPC to use as training
data and help us converge to the actual MPC solution. We want to try
RLPD instead of just SAC.
Change-Id: Ia54e26b80f16e2e2a92284b152b09304b566d3b6
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 2c3ad50..7a8c1ea 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -292,6 +292,33 @@
],
)
+py_binary(
+ name = "experience_collector",
+ srcs = [
+ "experience_collector.py",
+ ],
+ deps = [
+ ":casadi_velocity_mpc_lib",
+ ":jax_dynamics",
+ "//frc971/control_loops/swerve/velocity_controller:physics",
+ "@pip//absl_py",
+ "@pip//matplotlib",
+ "@pip//numpy",
+ "@pip//pygobject",
+ "@pip//scipy",
+ "@pip//tensorflow",
+ ],
+)
+
+py_binary(
+ name = "multi_experience_collector",
+ srcs = ["multi_experience_collector.py"],
+ data = [":experience_collector"],
+ deps = [
+ "@pip//absl_py",
+ ],
+)
+
py_library(
name = "physics_test_utils",
srcs = [