| <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"> |
| |
| <instance name="pid1"> |
| <config key="kp" value="4.0"/> |
| </instance> |
| |
| <instance name="pid2"> |
| <config key="kp" value="4.0"/> |
| <config key="kd" value="0.4"/> |
| </instance> |
| |
| <instance name="pid3"> |
| <config key="kp" value="4.0"/> |
| <config key="ki" value="4"/> |
| <config key="kd" value="0.4"/> |
| </instance> |
| |
| <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> |
|
|
