Nimrod Gileadi
002b427a32
Implement a configurable PID controller. PiperOrigin-RevId: 585282014 Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
622 lines
17 KiB
C++
622 lines
17 KiB
C++
// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for the PID controller plugin
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#include <string_view>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/cleanup/cleanup.h>
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#include <absl/strings/string_view.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using PidTest = PluginTest;
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using ::testing::DoubleNear;
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using ::testing::HasSubstr;
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using ::testing::IsNull;
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using ::testing::NotNull;
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TEST_F(PidTest, PGain) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid1"><config key="kp" value="4.0"/></instance>
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</plugin>
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</extension>
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<option gravity="0 0 0"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide"/>
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<geom size="0.01"/>
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</body>
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<body pos="0.04 0 0" >
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<joint name="j2" type="slide"/>
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<geom size="0.01"/>
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</body>
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</worldbody>
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<actuator>
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<plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
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<position joint="j2" kp="4.0" />
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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EXPECT_EQ(m->plugin_statenum[0], 0)
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<< "Plugin should have no state variables";
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EXPECT_EQ(m->actuator_actnum[0], 0)
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<< "Plugin should have no activation variables";
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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// apply the same ctrl to both actuators and see if the same qpos results
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d->ctrl[0] = 1.0;
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d->ctrl[1] = 1.0;
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mj_step(m, d);
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EXPECT_EQ(d->actuator_force[0], d->actuator_force[1]);
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EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1]);
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EXPECT_EQ(d->qpos[0], d->qpos[1]);
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}
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TEST_F(PidTest, PGainWithFilterExact) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid1"><config key="kp" value="4.0"/></instance>
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</plugin>
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</extension>
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<option gravity="0 0 0"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide"/>
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<geom size="0.01"/>
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</body>
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<body pos="0.04 0 0" >
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<joint name="j2" type="slide"/>
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<geom size="0.01"/>
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</body>
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</worldbody>
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<actuator>
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<plugin joint="j1" plugin="mujoco.pid" instance="pid1"
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dyntype="filterexact" dynprm="0.1" actearly="true"/>
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<general joint="j2" gainprm="4.0 0 0" biastype="affine" biasprm="0 -4.0 0"
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dyntype="filterexact" dynprm="0.1" actearly="true"/>
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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EXPECT_EQ(m->plugin_statenum[0], 0)
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<< "Plugin should have no state variables";
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EXPECT_EQ(m->actuator_actnum[0], 1)
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<< "Plugin should have one activation variable";
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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// apply the same ctrl to both actuators and see if the same qpos results
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d->ctrl[0] = 1.0;
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d->ctrl[1] = 1.0;
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for (int i = 0; i < 2; i++) {
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mj_step(m, d);
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EXPECT_EQ(d->actuator_force[0], d->actuator_force[1]);
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EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1]);
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EXPECT_EQ(d->qpos[0], d->qpos[1]);
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}
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}
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TEST_F(PidTest, SlewMaxRate) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid1">
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<config key="kp" value="4.0"/>
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<config key="slewmax" value="0.75"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 0" timestep="0.001"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide"/>
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<geom size="0.01"/>
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</body>
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<body pos="0.04 0 0" >
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<joint name="j2" type="slide"/>
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<geom size="0.01"/>
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</body>
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</worldbody>
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<actuator>
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<plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
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<position joint="j2" kp="4.0" />
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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// having a slew rate means that there should be one extra state variable
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// for the plugin.
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EXPECT_EQ(m->actuator_actnum[0], 1);
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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// going from ctrl=0.0 to ctrl=1.0 immediately should be equivalent to slowly
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// incrementing the setpoint
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d->ctrl[0] = d->ctrl[1] = 0.0;
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mj_step(m, d);
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mjtNum max_slew_rate = 0.75;
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for (int i = 0; i < 2; i++) {
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d->ctrl[0] = 1.0;
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d->ctrl[1] = d->time * max_slew_rate;
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mj_step(m, d);
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EXPECT_EQ(d->actuator_force[0], d->actuator_force[1])
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<< "actuator_force mismatch at step " << i;
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EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1])
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<< "qfrc_actuator mismatch at step " << i;
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EXPECT_EQ(d->qpos[0], d->qpos[1]) << "qpos mismatch at step " << i;
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}
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}
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TEST_F(PidTest, IntegratedVelocitySlewMaxRate) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid1">
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<config key="kp" value="4.0"/>
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<config key="slewmax" value="0.75"/>
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</instance>
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<instance name="pid2">
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<config key="kp" value="4.0"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 0" timestep="0.001"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide"/>
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<geom size="0.01"/>
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</body>
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<body pos="0.04 0 0" >
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<joint name="j2" type="slide"/>
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<geom size="0.01"/>
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</body>
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</worldbody>
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<actuator>
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<plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
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<!-- make an integrated velocity controller using the PID plugin -->
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<plugin joint="j2" plugin="mujoco.pid" instance="pid2"
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dyntype="integrator" dynprm="1 0 0" actearly="true"/>
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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// having a slew rate means that there should be one extra state variable
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// for the plugin.
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EXPECT_EQ(m->actuator_actnum[0], 1);
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// The integrated-velocity controller should have one activation variable too.
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EXPECT_EQ(m->actuator_actnum[1], 1);
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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// going from ctrl=0.0 to ctrl=1.0 immediately should be equivalent to using
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// an integrated-velocity controller, with actearly = true
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d->ctrl[0] = d->ctrl[1] = 0.0;
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mj_step(m, d);
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mjtNum max_slew_rate = 0.75;
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for (int i = 0; i < 2; i++) {
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d->ctrl[0] = 1.0;
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d->ctrl[1] = max_slew_rate;
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mj_step(m, d);
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EXPECT_EQ(d->act[0], d->act[1])
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<< "act mismatch at step " << i;
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EXPECT_EQ(d->actuator_force[0], d->actuator_force[1])
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<< "actuator_force mismatch at step " << i;
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EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1])
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<< "qfrc_actuator mismatch at step " << i;
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EXPECT_EQ(d->qpos[0], d->qpos[1]) << "qpos mismatch at step " << i;
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}
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}
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TEST_F(PidTest, SlewMaxRateUsesFirstCtrl) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid1">
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<config key="kp" value="4.0"/>
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<config key="slewmax" value="0.75"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 0" timestep="0.001"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide"/>
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<geom size="0.01"/>
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</body>
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</worldbody>
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<actuator><plugin joint="j1" plugin="mujoco.pid" instance="pid1" /></actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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// When starting with ctrl = 1.0, there shouldn't be a slew rate restriction
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d->ctrl[0] = 1.0;
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mj_forward(m, d);
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EXPECT_EQ(d->actuator_force[0], 4.0);
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}
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TEST_F(PidTest, ITerm) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid1">
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<config key="kp" value="40.0"/>
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<config key="kd" value="4"/>
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</instance>
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<instance name="pid2">
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<config key="kp" value="40.0"/>
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<config key="ki" value="40"/>
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<config key="kd" value="4"/>
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</instance>
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<instance name="pid3">
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<config key="kp" value="40.0"/>
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<config key="ki" value="40"/>
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<config key="kd" value="4"/>
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<config key="imax" value="5"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 -10" timestep="0.001"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide" axis="0 0 1" />
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<geom size="0.01" mass="1"/>
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</body>
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<body pos="0.04 0 0" >
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<joint name="j2" type="slide" axis="0 0 1" />
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<geom size="0.01" mass="1"/>
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</body>
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<body pos="0.08 0 0" >
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<joint name="j3" type="slide" axis="0 0 1" />
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<geom size="0.01" mass="1"/>
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</body>
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</worldbody>
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<actuator>
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<plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
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<plugin joint="j2" plugin="mujoco.pid" instance="pid2" />
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<plugin joint="j3" plugin="mujoco.pid" instance="pid3" />
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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// only the actuators with an I term should have state.
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EXPECT_EQ(m->actuator_actnum[0], 0);
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EXPECT_EQ(m->actuator_actnum[1], 1);
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EXPECT_EQ(m->actuator_actnum[2], 1);
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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// when applying a constant 1.0 control for a while:
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// - the PD controller should settle to 1.0 - m*g / kp
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// - the unclamped PID controller should reach 1.0
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// - the clamped PID controller should reach 1.0 - (m*g - imax) / kp
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d->ctrl[0] = d->ctrl[1] = d->ctrl[2] = 1.0;
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for (int i = 0; i < 10000; i++) {
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mj_step(m, d);
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}
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EXPECT_THAT(d->qpos[0], DoubleNear(1.0 - 10 / 40.0, 1e-5));
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EXPECT_THAT(d->qpos[1], DoubleNear(1.0, 1e-5));
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EXPECT_THAT(d->qpos[2], DoubleNear(1.0 - (10 - 0.125 * 40.0) / 40.0, 1e-5));
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}
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TEST_F(PidTest, FiniteDifferencing) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid">
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<config key="ki" value="40"/>
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<config key="slewmax" value="0.75"/>
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</instance>
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</plugin>
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</extension>
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<worldbody>
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<body><joint name="j"/><geom size="0.01"/></body>
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</worldbody>
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<actuator>
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<plugin joint="j" plugin="mujoco.pid" instance="pid" />
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
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ASSERT_THAT(m, NotNull()) << error;
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absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
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// actuators with an I term and max slew rate should have 2 activation
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// variables.
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EXPECT_EQ(m->actuator_actnum[0], 2);
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mjData* d = mj_makeData(m);
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absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
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d->ctrl[0] = 1.0;
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mj_step(m, d);
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EXPECT_NE(d->act[0], 0);
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mjtNum state_before_finite_differencing = d->act[0];
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std::vector<mjtNum> A((2*m->nv+m->na) * (2*m->nv+m->na), 0);
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std::vector<mjtNum> B((2*m->nv+m->na) * m->nu, 0);
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std::vector<mjtNum> C((m->nsensordata) * (2*m->nv+m->na), 0);
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std::vector<mjtNum> D((m->nsensordata) * m->nu, 0);
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mjd_transitionFD(m, d, /*eps=*/1e-3, /*flg_centered=*/true, A.data(),
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B.data(), C.data(), D.data());
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EXPECT_EQ(d->act[0], state_before_finite_differencing)
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<< "mjd_transitionFD should not change actuator plugin state.";
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}
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TEST_F(PidTest, CtrlClamp) {
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constexpr absl::string_view kModelXml = R"(
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<mujoco>
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<compiler autolimits="true"/>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="pid">
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<config key="kp" value="40.0"/>
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<config key="ki" value="40"/>
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<config key="kd" value="4"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 0" timestep="0.001"/>
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<worldbody>
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<body>
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<joint name="j1" type="slide" axis="0 0 1" />
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<geom size="0.01" mass="1"/>
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</body>
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</worldbody>
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<actuator>
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<plugin joint="j1" plugin="mujoco.pid" instance="pid"
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ctrlrange="0.25 0.75" />
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</actuator>
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</mujoco>
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|
)";
|
|
|
|
char error[1024] = {0};
|
|
mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
|
|
ASSERT_THAT(m, NotNull()) << error;
|
|
absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
|
|
|
|
mjData* d = mj_makeData(m);
|
|
absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
|
|
|
|
// when applying a constant 1.0 control for a while, control should be clamped
|
|
// to 0.75, and the body should reach that point.
|
|
d->ctrl[0] = 1.0;
|
|
for (int i = 0; i < 10000; i++) {
|
|
mj_step(m, d);
|
|
}
|
|
EXPECT_THAT(d->qpos[0], DoubleNear(0.75, 1e-5));
|
|
|
|
// when applying 0, it should be clamped to 0.25
|
|
d->ctrl[0] = 0.0;
|
|
for (int i = 0; i < 10000; i++) {
|
|
mj_step(m, d);
|
|
}
|
|
EXPECT_THAT(d->qpos[0], DoubleNear(0.25, 1e-5));
|
|
}
|
|
|
|
TEST_F(PidTest, CopyData) {
|
|
constexpr absl::string_view kModelXml = R"(
|
|
<mujoco>
|
|
<extension>
|
|
<plugin plugin="mujoco.pid">
|
|
<instance name="pid1">
|
|
<config key="kp" value="40.0"/>
|
|
<config key="kd" value="4"/>
|
|
</instance>
|
|
<instance name="pid2">
|
|
<config key="kp" value="40.0"/>
|
|
<config key="ki" value="40"/>
|
|
<config key="kd" value="4"/>
|
|
<config key="slewmax" value="3.14" />
|
|
<config key="imax" value="1"/>
|
|
</instance>
|
|
</plugin>
|
|
</extension>
|
|
|
|
<option gravity="0 0 -10" timestep="0.001"/>
|
|
|
|
<worldbody>
|
|
<body>
|
|
<joint name="j1" type="slide" axis="0 0 1" />
|
|
<geom size="0.01" mass="1"/>
|
|
</body>
|
|
<body pos="0.04 0 0" >
|
|
<joint name="j2" type="slide" axis="0 0 1" />
|
|
<geom size="0.01" mass="1"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<actuator>
|
|
<plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
|
|
<plugin joint="j2" plugin="mujoco.pid" instance="pid2" />
|
|
</actuator>
|
|
</mujoco>
|
|
)";
|
|
|
|
char error[1024] = {0};
|
|
mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
|
|
ASSERT_THAT(m, NotNull()) << error;
|
|
absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
|
|
|
|
mjData* d1 = mj_makeData(m);
|
|
absl::Cleanup d1_deleter = [d1] { mj_deleteData(d1); };
|
|
|
|
d1->ctrl[0] = d1->ctrl[1] = -1.0;
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
mj_step(m, d1);
|
|
}
|
|
mjData* d2 = mj_copyData(nullptr, m, d1);
|
|
absl::Cleanup d2_deleter = [d2] { mj_deleteData(d2); };
|
|
|
|
mj_step(m, d1);
|
|
mj_step(m, d2);
|
|
|
|
EXPECT_EQ(d1->qpos[0], d2->qpos[0]);
|
|
EXPECT_EQ(d1->qpos[1], d2->qpos[1]);
|
|
}
|
|
|
|
TEST_F(PidTest, InvalidClamp) {
|
|
constexpr absl::string_view kModelXml = R"(
|
|
<mujoco>
|
|
<extension>
|
|
<plugin plugin="mujoco.pid">
|
|
<instance name="pid1">
|
|
<config key="ki" value="40"/>
|
|
<!-- imax should be nonnegative -->
|
|
<config key="imax" value="-0.01"/>
|
|
</instance>
|
|
</plugin>
|
|
</extension>
|
|
|
|
<worldbody>
|
|
<body><joint name="j1" /><geom size="0.01" /></body>
|
|
</worldbody>
|
|
|
|
<actuator><plugin joint="j1" plugin="mujoco.pid" instance="pid1" /></actuator>
|
|
</mujoco>
|
|
)";
|
|
|
|
char error[1024] = {0};
|
|
mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
|
|
EXPECT_THAT(m, IsNull());
|
|
|
|
// TODO: b/303654852 - ensure that the compilation error includes "imax"
|
|
EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
|
|
}
|
|
|
|
TEST_F(PidTest, InvalidSlew) {
|
|
constexpr absl::string_view kModelXml = R"(
|
|
<mujoco>
|
|
<extension>
|
|
<plugin plugin="mujoco.pid">
|
|
<instance name="pid1">
|
|
<config key="kp" value="40"/>
|
|
<!-- slewmax must be nonnegative -->
|
|
<config key="slewmax" value="-0.1"/>
|
|
</instance>
|
|
</plugin>
|
|
</extension>
|
|
|
|
<worldbody>
|
|
<body><joint name="j" /><geom size="0.01" /></body>
|
|
</worldbody>
|
|
|
|
<actuator>
|
|
<plugin joint="j" plugin="mujoco.pid" instance="pid1" />
|
|
</actuator>
|
|
</mujoco>
|
|
)";
|
|
|
|
char error[1024] = {0};
|
|
mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
|
|
ASSERT_THAT(m, IsNull());
|
|
|
|
// TODO: b/303654852 - ensure that the compilation error includes "slewmax"
|
|
EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
|
|
}
|
|
} // namespace
|
|
} // namespace mujoco
|