chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

PID Controller as an actuator plugin.

Browse Source 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
This commit is contained in:
Nimrod Gileadi
2023-11-25 08:40:13 -08:00
committed by Copybara-Service
parent d070b1893e
commit 002b427a32
14 changed files with 1237 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+5
View File
@@ -19,6 +19,11 @@ Plugins
``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
- Added `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin:
- A configurable PID controller that implements an integral term, which is not available with the default MuJoCo
actuators.
Bug fixes
^^^^^^^^^
- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.