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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
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@@ -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`. :