Sam Haves
f2461f9ce6
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead. PiperOrigin-RevId: 896612678 Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
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 |