chenlin/Mujoco_WASM
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2 Commits

Author SHA1 Message Date
Nimrod Gileadi 6412c95a37 Remove the use of plugin_state from PID plugin. 
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
 2023-11-27 10:32:07 -08:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -08:00