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google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control
https://github.com/deepmind/mujoco_mpc
Apache License 2.0
913 stars 135 forks source link

Check model for missing actuator limits #272

Closed thowell closed 6 months ago

thowell commented 6 months ago

Throw error if model is missing actuator limits. Addressing: #269. @vikashplus

thowell commented 6 months ago

Here's an example printout from the Acrobot model:

elbow (actuator 0) missing limits
ERROR: Ctrl limits required for all actuators.