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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_vfs_test.cc
+1 -1
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@@ -26,7 +26,7 @@ using ::testing::NotNull;
using EngineVfsTest = MujocoTest;
TEST_F(EngineVfsTest, AddFileVFS) {
constexpr char path[] = "engine/testdata/";
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
std::string file2 = "damper.xml";