Nimrod Gileadi
393895bb29
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
103 lines
3.5 KiB
C++
103 lines
3.5 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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#ifndef MUJOCO_PLUGIN_ACTUATOR_PID_H_
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#define MUJOCO_PLUGIN_ACTUATOR_PID_H_
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#include <memory>
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#include <optional>
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#include <vector>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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namespace mujoco::plugin::actuator {
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struct PidConfig {
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double p_gain = 0.0;
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double i_gain = 0.0;
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double d_gain = 0.0;
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// Maximum value of the error integral.
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// NOTE: In the XML definition, the clamp values are specified as limits on
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// the *force* value, so are scaled by i_gain.
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std::optional<double> i_max;
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// Maximum speed at which the setpoint can change.
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std::optional<double> slew_max;
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// Reads plugin attributes to construct PID configuration.
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static PidConfig FromModel(const mjModel* m, int instance);
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};
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// An actuator plugin which implements configurable PID control.
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class Pid {
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public:
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// Returns an instance of Pid. The result can be null in case of
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// misconfiguration.
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static std::unique_ptr<Pid> Create(const mjModel* m, int instance);
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// Returns the number of state variables for the plugin instance
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static int StateSize(const mjModel* m, int instance);
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// Resets the C++ Pid instance's state.
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// plugin_state is a C array pointer into mjData->plugin_state, with a size
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// equal to the value returned from StateSize.
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void Reset(mjtNum* plugin_state);
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// Computes the rate of change for activation variables
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void ActDot(const mjModel* m, mjData* d, int instance) const;
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// Idempotent computation which updates d->actuator_force and the internal
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// state of the class. Called after ActDot.
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void Compute(const mjModel* m, mjData* d, int instance);
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// Updates plugin state.
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void Advance(const mjModel* m, mjData* d, int instance) const;
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// Adds the PID plugin to the global registry of MuJoCo plugins.
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static void RegisterPlugin();
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private:
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Pid(PidConfig config, std::vector<int> actuators);
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// Returns the expected number of activation variables for the instance.
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static int ActDim(const mjModel* m, int instance, int actuator_id);
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struct State {
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mjtNum previous_ctrl = 0;
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// if using slew rate limits, mjData.act will contain an activation variable
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// with the last ctrl value. If `false`, that value should be ignored,
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// because it hasn't been set yet.
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bool previous_ctrl_exists = false;
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mjtNum integral = 0;
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};
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// Reads data from d->act and returns it as a State struct.
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State GetState(const mjModel* m, mjData* d, int actuator_idx) const;
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// Returns the PID setpoint, which is normally d->ctrl, but can be d->act for
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// actuators with dyntype != none.
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mjtNum GetCtrl(const mjModel* m, const mjData* d, int actuator_idx,
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const State& state, bool actearly) const;
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PidConfig config_;
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// set of actuator IDs controlled by this plugin instance.
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std::vector<int> actuators_;
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};
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} // namespace mujoco::plugin::actuator
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#endif // MUJOCO_PLUGIN_ACTUATOR_PID_H_
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