Support for different control modes with mujoco by defining PIDs #38

Open

saikishor wants to merge 29 commits intoNASA-JSC-Robotics:jazzy-develfrom

pal-robotics-forks:feature-mujoco-control-mode-dependence

Commits on Nov 19, 2025

Added mujoco topic loading

Ortisa
authored and
saikishor
committed
removed the model loading from parameter

Ortisa
authored and
saikishor
committed
Improved deleteSpec

Ortisa
authored and
saikishor
committed
improved loadModel function

Ortisa
authored and
saikishor
committed
Added control dependency on mujoco actuators

Ortisa
authored and
saikishor
committed
Added control_toolbox dependence

Ortisa
authored and
saikishor
committed
Added pid control

Ortisa
authored and
saikishor
committed
Improved structure

Ortisa
authored and
saikishor
committed
Added joint mujoco actuator type

Ortisa
authored and
saikishor
committed
Improved logic

Ortisa
authored and
saikishor
committed
Improved variable management

Ortisa
authored and
saikishor
committed
Fixed export_command_interfaces

Ortisa
authored and
saikishor
committed
managed unknown mujoco actuator

Ortisa
authored and
saikishor
committed
Fixed mujoco general actuator

Ortisa
authored and
saikishor
committed
Managed custom mujococ actuator

Ortisa
authored and
saikishor
committed
Improved logic

Ortisa
authored and
saikishor
committed
added commands for pid control

Ortisa
authored and
saikishor
committed
fix if logic

Ortisa
authored and
saikishor
committed
support of pid control for custom actuators

Ortisa
authored and
saikishor
committed
Improved register joints for the velocity case

Ortisa
authored and
saikishor
committed
Use PidROS instead of PID to reuse elements
saikishor
committed
added test

Ortisa
authored and
saikishor
committed
fix the prints
saikishor
committed
Cleanup the repo and apply pre-commit formatting changes
saikishor
committed
Update to use the pids_config_file argument
saikishor
committed
update readme
saikishor
committed
Update pixi dependencies
saikishor
committed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

Support for different control modes with mujoco by defining PIDs #38

Support for different control modes with mujoco by defining PIDs #38
saikishor wants to merge 29 commits intoNASA-JSC-Robotics:jazzy-develfrom
pal-robotics-forks:feature-mujoco-control-mode-dependence

Commits on Nov 19, 2025

Added mujoco topic loading

removed the model loading from parameter

Improved deleteSpec

improved loadModel function

Added control dependency on mujoco actuators

Added control_toolbox dependence

Added pid control

Improved structure

Added joint mujoco actuator type

Improved logic

Improved variable management

Fixed export_command_interfaces

managed unknown mujoco actuator

Fixed mujoco general actuator

Managed custom mujococ actuator

Improved logic

added commands for pid control

fix if logic

support of pid control for custom actuators

Improved register joints for the velocity case

Use PidROS instead of PID to reuse elements

added test

fix the prints

Cleanup the repo and apply pre-commit formatting changes

Update to use the pids_config_file argument

update readme

Update pixi dependencies

Commits on Nov 20, 2025

update PID logic to be local

Local PID logic for velocity command interface