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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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test/engine/engine_derivative_test.cc
+1 -1
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@@ -97,7 +97,7 @@ static const char* const kTumblingThinObjectEllipsoidPath =
static const char* const kDampedActuatorsPath =
"engine/testdata/derivative/damped_actuators.xml";
static const char* const kDamperActuatorsPath =
"engine/testdata/damper.xml";
"engine/testdata/actuation/damper.xml";
static const char* const kDampedPendulumPath =
"engine/testdata/derivative/damped_pendulum.xml";
static const char* const kLinearPath =