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mujoco / data /model /plugin /actuator /pid.xml

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2c55b92 verified 8 months ago

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2.15 kB

	<mujoco model="PID Controllers">
	<size memory="10M"/>

	<visual>
	<headlight diffuse=".2 .2 .2"/>
	<global elevation="-30" />
	</visual>
	<statistic extent="0.50" />

	<extension>
	<plugin plugin="mujoco.pid">
	<!-- pure proportional gain, bounces up and down -->
	<instance name="pid1">
	<config key="kp" value="4.0"/>
	</instance>
	<!-- PD controller - settles below setpoint -->
	<instance name="pid2">
	<config key="kp" value="4.0"/>
	<config key="kd" value="0.4"/>
	</instance>
	<!-- PID controller - reaches setpoint -->
	<instance name="pid3">
	<config key="kp" value="4.0"/>
	<config key="ki" value="4"/>
	<config key="kd" value="0.4"/>
	</instance>
	<!-- PID controller with clamped I term. -->
	<instance name="pid4">
	<config key="kp" value="4.0"/>
	<config key="ki" value="4"/>
	<config key="kd" value="0.4"/>
	<config key="imax" value=".5"/>
	</instance>
	</plugin>
	</extension>

	<default>
	<geom type="sphere" size="0.01" rgba="1 1 1 1" />
	</default>

	<worldbody>
	<light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
	<light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
	<geom name="floor" type="plane" pos="0 0 -0.1" size="0 0 100" />
	<body pos="-0.06 0 0">
	<joint name="j1" type="slide" axis="0 0 1" />
	<geom/>
	</body>
	<body pos="-0.02 0 0" >
	<joint name="j2" type="slide" axis="0 0 1" />
	<geom/>
	</body>
	<body pos="0.02 0 0" >
	<joint name="j3" type="slide" axis="0 0 1" />
	<geom/>
	</body>
	<body pos="0.06 0 0" >
	<joint name="j4" type="slide" axis="0 0 1" />
	<geom/>
	</body>
	</worldbody>
	<actuator>
	<plugin joint="j1" plugin="mujoco.pid" instance="pid1" ctrlrange="0 0.15" />
	<plugin joint="j2" plugin="mujoco.pid" instance="pid2" ctrlrange="0 0.15" />
	<plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" actdim="1" />
	<plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" actdim="1" />
	</actuator>
	</mujoco>