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Add the pid actuator: setpoint inputs, integral action, slew rate limiting.

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<pid kp kv|dampratio [ki imax] [slewmax]> is a PID controller with real position and velocity setpoint inputs on a single force output, plus an optional feedforward input. With a zero velocity setpoint it reproduces <position> bit-exactly; the input signature is any subset of [pos, vel, ff], selected with input="..." and recorded as mjtCtrlInput bits in
actuator_ctrlspec; absent setpoint inputs are fixed at zero, so the control vector contains no inert entries.

kp and kv are single-sourced in the affine bias parameters (biasprm[1,2]) with no gainprm mirror: every consumer of the position-servo shape
(dampratio conversion, inheritrange, qDeriv) reads one location, which is what makes the bit-exact <position> parity possible. Controller state uses dyntype 'pid' with slot-gated activations in the order [slew, integral], following the dcmotor slot idiom: slewmax (dynprm[1]) rate limits the effective position setpoint through an activation holding it;
ki (gainprm[0]) integrates the position error -- wrapped on rotational transmissions -- with anti-windup clamping of the integrand at imax (dynprm[0]). Both features require the pos input. Servo input unpacking is shared with the dcmotor controller (unpackServoInputs); per-input ranges are exposed as posrange/velrange/ffrange.

This subsumes the functionality of the mujoco.pid plugin with proper activation state: correct under all integrators, visible to keyframes, act sensors and reset. Migration: kp/ki/kd map to kp/ki/kv, plugin imax is in force units (divide by ki), slewmax carries over; the single ctrl becomes input="pos".

PiperOrigin-RevId: 957588898
Change-Id: Id2786836ca6e76f58e5b5cc8323fc23be0a53784
This commit is contained in:
Yuval Tassa
2026-08-01 04:28:10 -07:00
committed by Copybara-Service
parent 7bc1aa9b05
commit 279df98cd0
33 changed files with 1504 additions and 62 deletions
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doc/XMLschema.rst
+240
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@@ -2378,6 +2378,12 @@
.. grid-item::
:ref:`input<actuator-general-input>`
.. grid-item::
:ref:`velrange<actuator-general-velrange>`
.. grid-item::
:ref:`ffrange<actuator-general-ffrange>`
.. grid-item::
:ref:`dyntype<actuator-general-dyntype>`
@@ -2793,6 +2799,114 @@
:ref:`input<actuator-orientation-input>`
.. dropdown:: :ref:`pid<actuator-pid>` |*|
.. grid:: 2 3 4 4
:gutter: 0
.. grid-item::
:ref:`name<actuator-pid-name>`
.. grid-item::
:ref:`class<actuator-pid-class>`
.. grid-item::
:ref:`group<actuator-pid-group>`
.. grid-item::
:ref:`nsample<actuator-pid-nsample>`
.. grid-item::
:ref:`interp<actuator-pid-interp>`
.. grid-item::
:ref:`delay<actuator-pid-delay>`
.. grid-item::
:ref:`ctrllimited<actuator-pid-ctrllimited>`
.. grid-item::
:ref:`forcelimited<actuator-pid-forcelimited>`
.. grid-item::
:ref:`ctrlrange<actuator-pid-ctrlrange>`
.. grid-item::
:ref:`posrange<actuator-pid-posrange>`
.. grid-item::
:ref:`velrange<actuator-pid-velrange>`
.. grid-item::
:ref:`ffrange<actuator-pid-ffrange>`
.. grid-item::
:ref:`forcerange<actuator-pid-forcerange>`
.. grid-item::
:ref:`inheritrange<actuator-pid-inheritrange>`
.. grid-item::
:ref:`lengthrange<actuator-pid-lengthrange>`
.. grid-item::
:ref:`gear<actuator-pid-gear>`
.. grid-item::
:ref:`damping<actuator-pid-damping>`
.. grid-item::
:ref:`armature<actuator-pid-armature>`
.. grid-item::
:ref:`cranklength<actuator-pid-cranklength>`
.. grid-item::
:ref:`user<actuator-pid-user>`
.. grid-item::
:ref:`joint<actuator-pid-joint>`
.. grid-item::
:ref:`jointinparent<actuator-pid-jointinparent>`
.. grid-item::
:ref:`tendon<actuator-pid-tendon>`
.. grid-item::
:ref:`slidersite<actuator-pid-slidersite>`
.. grid-item::
:ref:`cranksite<actuator-pid-cranksite>`
.. grid-item::
:ref:`site<actuator-pid-site>`
.. grid-item::
:ref:`refsite<actuator-pid-refsite>`
.. grid-item::
:ref:`kp<actuator-pid-kp>`
.. grid-item::
:ref:`kv<actuator-pid-kv>`
.. grid-item::
:ref:`dampratio<actuator-pid-dampratio>`
.. grid-item::
:ref:`ki<actuator-pid-ki>`
.. grid-item::
:ref:`imax<actuator-pid-imax>`
.. grid-item::
:ref:`slewmax<actuator-pid-slewmax>`
.. grid-item::
:ref:`input<actuator-pid-input>`
.. dropdown:: :ref:`damper<actuator-damper>` |*|
.. grid:: 2 3 4 4
@@ -5927,6 +6041,12 @@
.. grid-item::
:ref:`input<default-general-input>`
.. grid-item::
:ref:`velrange<default-general-velrange>`
.. grid-item::
:ref:`ffrange<default-general-ffrange>`
.. grid-item::
:ref:`dyntype<default-general-dyntype>`
@@ -6165,6 +6285,126 @@
:ref:`dampratio<default-intvelocity-dampratio>`
.. dropdown:: :ref:`orientation<default-orientation>` :octicon:`dot`
.. grid:: 2 3 4 4
:gutter: 0
.. grid-item::
:ref:`forcelimited<default-orientation-forcelimited>`
.. grid-item::
:ref:`ctrlrange<default-orientation-ctrlrange>`
.. grid-item::
:ref:`forcerange<default-orientation-forcerange>`
.. grid-item::
:ref:`user<default-orientation-user>`
.. grid-item::
:ref:`group<default-orientation-group>`
.. grid-item::
:ref:`nsample<default-orientation-nsample>`
.. grid-item::
:ref:`interp<default-orientation-interp>`
.. grid-item::
:ref:`delay<default-orientation-delay>`
.. grid-item::
:ref:`kp<default-orientation-kp>`
.. grid-item::
:ref:`kv<default-orientation-kv>`
.. grid-item::
:ref:`dampratio<default-orientation-dampratio>`
.. grid-item::
:ref:`input<default-orientation-input>`
.. dropdown:: :ref:`pid<default-pid>` :octicon:`dot`
.. grid:: 2 3 4 4
:gutter: 0
.. grid-item::
:ref:`ctrllimited<default-pid-ctrllimited>`
.. grid-item::
:ref:`forcelimited<default-pid-forcelimited>`
.. grid-item::
:ref:`ctrlrange<default-pid-ctrlrange>`
.. grid-item::
:ref:`posrange<default-pid-posrange>`
.. grid-item::
:ref:`velrange<default-pid-velrange>`
.. grid-item::
:ref:`ffrange<default-pid-ffrange>`
.. grid-item::
:ref:`forcerange<default-pid-forcerange>`
.. grid-item::
:ref:`inheritrange<default-pid-inheritrange>`
.. grid-item::
:ref:`gear<default-pid-gear>`
.. grid-item::
:ref:`damping<default-pid-damping>`
.. grid-item::
:ref:`armature<default-pid-armature>`
.. grid-item::
:ref:`cranklength<default-pid-cranklength>`
.. grid-item::
:ref:`user<default-pid-user>`
.. grid-item::
:ref:`group<default-pid-group>`
.. grid-item::
:ref:`nsample<default-pid-nsample>`
.. grid-item::
:ref:`interp<default-pid-interp>`
.. grid-item::
:ref:`delay<default-pid-delay>`
.. grid-item::
:ref:`kp<default-pid-kp>`
.. grid-item::
:ref:`kv<default-pid-kv>`
.. grid-item::
:ref:`dampratio<default-pid-dampratio>`
.. grid-item::
:ref:`ki<default-pid-ki>`
.. grid-item::
:ref:`imax<default-pid-imax>`
.. grid-item::
:ref:`slewmax<default-pid-slewmax>`
.. grid-item::
:ref:`input<default-pid-input>`
.. dropdown:: :ref:`damper<default-damper>` :octicon:`dot`
.. grid:: 2 3 4 4