chenlin/Mujoco_WASM
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8e2f830fd2d079d4391541bcbb4971d12e164e88
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5 Commits

Author SHA1 Message Date
Yuval Tassa 19388eee0c Fix type errors in engine and plugins. 
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.

PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
 2024-06-16 12:35:05 -07:00
Nimrod Gileadi c062a8db19 Allow multiple actuators to use the same PID plugin. 
Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
 2023-12-04 10:08:07 -08:00
Nimrod Gileadi 236dcb4ffd Fix a bug with PID actuators, when plugin definition order differs from actuator order. 
PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
 2023-12-04 08:31:45 -08:00
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