7 Commits

Author	SHA1	Message	Date
Nimrod Gileadi	393895bb29	Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes. ... Support actdim attribute on plugin actuators. Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin. PiperOrigin-RevId: 650649505 Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e	2024-07-09 09:08:48 -07:00
Nimrod Gileadi	c5f958bdff	When reporting compilation errors, include warning strings. ... This allows plugins to call mju_warning, and have the string propagate to users. PiperOrigin-RevId: 650621601 Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc	2024-07-09 07:33:11 -07:00
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