69 lines
2.1 KiB
XML
69 lines
2.1 KiB
XML
<mujoco model="PID Controllers">
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<size memory="10M"/>
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<visual>
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<headlight diffuse=".2 .2 .2"/>
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<global elevation="-30" />
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</visual>
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<statistic extent="0.50" />
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<extension>
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<plugin plugin="mujoco.pid">
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<!-- pure proportional gain, bounces up and down -->
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<instance name="pid1">
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<config key="kp" value="4.0"/>
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</instance>
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<!-- PD controller - settles below setpoint -->
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<instance name="pid2">
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<config key="kp" value="4.0"/>
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<config key="kd" value="0.4"/>
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</instance>
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<!-- PID controller - reaches setpoint -->
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<instance name="pid3">
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<config key="kp" value="4.0"/>
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<config key="ki" value="4"/>
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<config key="kd" value="0.4"/>
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</instance>
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<!-- PID controller with clamped I term. -->
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<instance name="pid4">
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<config key="kp" value="4.0"/>
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<config key="ki" value="4"/>
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<config key="kd" value="0.4"/>
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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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<default>
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<geom type="sphere" size="0.01" rgba="1 1 1 1" />
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</default>
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<worldbody>
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<light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
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<light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
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<geom name="floor" type="plane" pos="0 0 -0.1" size="0 0 100" />
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<body pos="-0.06 0 0">
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<joint name="j1" type="slide" axis="0 0 1" />
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<geom/>
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</body>
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<body pos="-0.02 0 0" >
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<joint name="j2" type="slide" axis="0 0 1" />
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<geom/>
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</body>
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<body pos="0.02 0 0" >
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<joint name="j3" type="slide" axis="0 0 1" />
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<geom/>
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</body>
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<body pos="0.06 0 0" >
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<joint name="j4" type="slide" axis="0 0 1" />
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<geom/>
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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" ctrlrange="0 0.15" />
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<plugin joint="j2" plugin="mujoco.pid" instance="pid2" ctrlrange="0 0.15" />
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<plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" actdim="1" />
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<plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" actdim="1" />
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</actuator>
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</mujoco>
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