[core] Keep track of motor efforts both on motor and joint sides.

duburcqa / jiminy

Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning

https://duburcqa.github.io/jiminy

MIT License

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Closed duburcqa closed 4 months ago

duburcqa commented 4 months ago

[core] Keep track of motor efforts both on motor and joint sides.
[core] Effort sensors now measure motor effort before transmission.
[gym/zoo] Update all robotic environments so that random actions do not trigger truncation.