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Improvements related to models where joint-actuator relationship is not one-to-one:

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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
This commit is contained in:
Yuval Tassa
2023-07-19 10:28:24 -07:00
committed by Copybara-Service
parent 7603b07a20
commit 51aa375af0
29 changed files with 453 additions and 105 deletions
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doc/computation.rst
+2 -2
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@@ -293,8 +293,8 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
If a :at:`site` transmission target is defined with the optional :at:`refsite` attribute, forces and torques are
applied in the frame of the reference site rather than the site's own frame. If a reference site is defined then
the length of the actuator is nonzero and corresponds to the pose difference of the two sites. This length can then
be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the :at:`refsite`
documentation in :ref:`actuator<actuator-general>` reference for more details.
be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the
:ref:`refsite<actuator-general-refsite>` documentation for more details.
.. _geActivation: