Yuval Tassa
19388eee0c
- Preparation for a float32 build of MuJoCo. - Fix use of `float`-typed `fabs` in `mju_eig3`. PiperOrigin-RevId: 643804942 Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
Actuator plugins
PID
The mujoco.pid actuator plugin implements a configurable PID controller:
f(t) = K_\text{p} e(t) + K_\text{i} \int_0^t e(\tau) \,\mathrm{d}\tau + K_\text{d} \frac{\mathrm{d}e(t)}{\mathrm{d}t},
where e(t) = u(t) - \ell(t) is the difference between the control u and the actuator length \ell.
You can use it like:
<mujoco>
<extension>
<plugin plugin="mujoco.pid">
<instance name="pid">
<config key="kp" value="40.0"/>
<config key="ki" value="40"/>
<config key="kd" value="4"/>
<config key="slewmax" value="3" />
<config key="imax" value="1"/>
</instance>
</plugin>
</extension>
<worldbody>
<body>
<joint name="j" type="slide" axis="0 0 1" />
<geom size="0.01" mass="1"/>
</body>
</worldbody>
<actuator>
<plugin joint="j" plugin="mujoco.pid" instance="pid" />
</actuator>
</mujoco>
The available options are:
| Attribute | Default | Meaning |
|---|---|---|
kp |
0 | P gain for the controller. |
ki |
0 | I gain for the controller. If nonzero, one activation variable will be added to |
kd |
0 | D gain for the controller. |
imax |
Optional | If specified, the force produced by the I term will be clipped to the range [-imax, -imax]. |
slewmax |
Optional | The maximum rate at which the setpoint for the PID controller can change. If a bigger change is requested between two timesteps, it will be clipped to the range If specified, one activation variable will be added to |