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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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src/engine/engine_io.c
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@@ -1471,6 +1471,7 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
case mjSENS_ACTUATORPOS:
case mjSENS_ACTUATORVEL:
case mjSENS_ACTUATORFRC:
case mjSENS_JOINTACTFRC:
case mjSENS_JOINTLIMITPOS:
case mjSENS_JOINTLIMITVEL:
case mjSENS_JOINTLIMITFRC: