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Remove the use of plugin_state from PID plugin.

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The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.

PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
This commit is contained in:
Nimrod Gileadi
2023-11-27 10:31:12 -08:00
committed by Copybara-Service
parent 35c90844ae
commit 6412c95a37
2 changed files with 3 additions and 12 deletions
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plugin/actuator/README.md
+1 -3
View File
@@ -50,6 +50,4 @@ The available options are:
: : : :
: : :If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]` :
: : : :
: : :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. One state variable will :
: : :be added to `mjData.plugin_state`, to indicate whether the previous value of `ctrl` should be used (0 on first step, 1 :
: : :otherwise). :
: : :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. :
plugin/actuator/pid.cc
+2 -9
View File
@@ -128,9 +128,6 @@ std::unique_ptr<Pid> Pid::Create(const mjModel* m, int instance) {
void Pid::Reset(mjtNum* plugin_state) {
integral_ = 0.0;
previous_ctrl_ = 0.0;
if (config_.slew_max.has_value()) {
plugin_state[0] = false; // previous_ctrl_exists
}
}
mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, const State& state,
@@ -208,15 +205,11 @@ void Pid::Compute(const mjModel* m, mjData* d, int instance) {
}
void Pid::Advance(const mjModel* m, mjData* d, int instance) const {
if (config_.slew_max.has_value()) {
// previous_ctrl_exists = true
d->plugin_state[m->plugin_stateadr[instance]] = true;
}
// act variables already updated by MuJoCo integrating act_dot
}
int Pid::StateSize(const mjModel* m, int instance) {
return HasSlew(m, instance) ? 1 : 0;
return 0;
}
int Pid::ActDim(const mjModel* m, int instance, int actuator_id) {
@@ -232,7 +225,7 @@ Pid::State Pid::GetState(const mjModel* m, mjData* d, int instance) const {
}
if (config_.slew_max.has_value()) {
state.previous_ctrl = d->act[state_idx++];
state.previous_ctrl_exists = d->plugin_state[m->plugin_stateadr[instance]];
state.previous_ctrl_exists = d->time > 0;
}
return state;
}